diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-17-46_2135019593/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-17-46_2135019593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3d8d0c730ab92f81423994d5cf80168da2c8eafb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-17-46_2135019593/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            429.7484465053194,
+            -1395.4772094901305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            432.3465227166727,
+            -1393.9772094901305,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            432.3465227166727,
+            -1393.9772094901305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            433.8465227166727,
+            -1391.379133278777,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            435.3465227166727,
+            -1388.7810570674237,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            436.8465227166727,
+            -1386.1829808560703,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            438.3465227166727,
+            -1383.584904644717,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            438.3465227166727,
+            -1383.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            440.94459892802604,
+            -1382.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            443.54267513937936,
+            -1380.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            446.14075135073267,
+            -1379.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            448.738827562086,
+            -1377.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            451.3369037734393,
+            -1376.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            453.9349799847926,
+            -1374.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            456.53305619614594,
+            -1373.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            459.13113240749925,
+            -1371.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            461.72920861885257,
+            -1370.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            464.3272848302059,
+            -1368.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            466.9253610415592,
+            -1367.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            469.5234372529125,
+            -1365.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            472.12151346426583,
+            -1364.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            474.71958967561915,
+            -1362.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            477.31766588697246,
+            -1361.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            479.9157420983258,
+            -1359.584904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            482.5138183096791,
+            -1358.084904644717,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            485.1118945210324,
+            -1356.584904644717,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-39-25_1934660183/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-39-25_1934660183/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..deef3f4443c98a0752a166a7bcb0626a1d139bef
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_0-39-25_1934660183/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1361.940382604405,
+            -2745.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1359.3423063930516,
+            -2746.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1356.7442301816982,
+            -2748.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1354.1461539703448,
+            -2749.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1351.5480777589914,
+            -2751.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1348.950001547638,
+            -2752.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1346.3519253362847,
+            -2754.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1343.7538491249313,
+            -2755.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1341.155772913578,
+            -2757.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1338.5576967022246,
+            -2758.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1335.9596204908712,
+            -2760.1413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1333.3615442795178,
+            -2761.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1333.3615442795178,
+            -2761.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1330.3615442795178,
+            -2761.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1327.3615442795178,
+            -2761.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1324.3615442795178,
+            -2761.6413384200305,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1276.0,
+            -2780.0,
+            -262.796
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-40-56_144874089/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-40-56_144874089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a079f3a4ab7ae6272103d41e1453b473b5d92ef6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-40-56_144874089/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1103.8755696733433,
+            -2348.6558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1106.4736458846967,
+            -2347.1558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1109.07172209605,
+            -2345.6558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1111.6697983074034,
+            -2344.1558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1114.2678745187568,
+            -2342.6558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1116.8659507301102,
+            -2341.1558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1119.4640269414635,
+            -2339.6558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1122.062103152817,
+            -2338.1558183861453,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1124.6601793641703,
+            -2336.6558183861453,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-47-14_986478257/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-47-14_986478257/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f68a82fbfd5748eed7d9e0c4e1efcd5e41443ce8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-47-14_986478257/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            462.99045591906383,
+            -2272.7328221399594,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            461.49045591906383,
+            -2270.134745928606,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            459.99045591906383,
+            -2267.536669717253,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            458.49045591906383,
+            -2264.9385935059,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            456.99045591906383,
+            -2262.3405172945468,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            455.49045591906383,
+            -2259.7424410831936,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            453.99045591906383,
+            -2257.1443648718405,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            452.49045591906383,
+            -2254.5462886604873,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            452.49045591906383,
+            -2254.5462886604873,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            452.49045591906383,
+            -2251.5462886604873,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            452.49045591906383,
+            -2248.5462886604873,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            452.49045591906383,
+            -2245.5462886604873,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-6-33_649785905/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-6-33_649785905/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23e4947ebf11740eae5590d2505aeebdb3dfb420
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_1-6-33_649785905/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            707.7579251916873,
+            -1746.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            705.1598489803339,
+            -1747.8861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            702.5617727689805,
+            -1749.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            699.9636965576271,
+            -1750.8861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            697.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            697.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            694.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            691.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            688.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            685.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            682.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            682.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            682.3656203462738,
+            -1752.3861067891307,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            680.8656203462738,
+            -1754.984183000484,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            679.3656203462738,
+            -1757.5822592118375,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            677.8656203462738,
+            -1760.1803354231909,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            644.0,
+            -1776.0,
+            -231.938
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-30-45_1245644428/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-30-45_1245644428/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7fbfc2e5e0702f7dc3ad31d7906af59bf393b4d2
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-30-45_1245644428/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            198.58315742832787,
+            -1326.4001439717467,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            200.08315742832787,
+            -1328.9982201831,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            201.58315742832787,
+            -1331.5962963944535,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            203.08315742832787,
+            -1334.1943726058068,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            204.58315742832787,
+            -1336.7924488171602,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            206.08315742832787,
+            -1339.3905250285136,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            207.58315742832787,
+            -1341.988601239867,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            209.08315742832787,
+            -1344.5866774512203,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            210.58315742832787,
+            -1347.1847536625737,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            210.58315742832787,
+            -1347.1847536625737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            213.18123363968118,
+            -1348.6847536625737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            215.7793098510345,
+            -1350.1847536625737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            218.3773860623878,
+            -1351.6847536625737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            220.97546227374113,
+            -1353.1847536625737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            223.57353848509445,
+            -1354.6847536625737,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1372.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-38-14_1597848432/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-38-14_1597848432/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3fdc15697a51227a78573bdac19d6a79c76d73b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_2-38-14_1597848432/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -203.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -206.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -209.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -212.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -215.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -218.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -221.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -224.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -227.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -230.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -230.35686805080658,
+            -1442.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -232.9549442621599,
+            -1443.7854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -235.55302047351321,
+            -1445.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -238.15109668486653,
+            -1446.7854875513283,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -240.74917289621985,
+            -1448.2854875513283,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-13-36_713355511/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-13-36_713355511/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..86ac032c5b0451b0d5697f46cb89dc7524dee2d6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-13-36_713355511/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -260.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -257.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -254.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -251.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -248.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -245.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -242.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -239.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -236.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -233.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -230.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -227.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -224.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -221.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -218.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -215.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -212.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -209.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -206.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -203.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -203.6004028028235,
+            -1551.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -201.0023265914702,
+            -1553.3222485941426,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -198.40425038011688,
+            -1554.8222485941426,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-2-14_2108785490/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-2-14_2108785490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ea54e85d1813cb71644173361b62940c03ef4da
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-2-14_2108785490/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.58118203338276,
+            -1467.265308496903,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            212.08118203338276,
+            -1469.8633847082563,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            213.58118203338276,
+            -1472.4614609196096,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            215.08118203338276,
+            -1475.059537130963,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            216.58118203338276,
+            -1477.6576133423164,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            218.08118203338276,
+            -1480.2556895536698,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            219.58118203338276,
+            -1482.8537657650231,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            221.08118203338276,
+            -1485.4518419763765,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            222.58118203338276,
+            -1488.0499181877299,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            224.08118203338276,
+            -1490.6479943990832,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            225.58118203338276,
+            -1493.2460706104366,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            227.08118203338276,
+            -1495.84414682179,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            228.58118203338276,
+            -1498.4422230331434,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            230.08118203338276,
+            -1501.0402992444967,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            231.58118203338276,
+            -1503.63837545585,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            233.08118203338276,
+            -1506.2364516672035,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            234.58118203338276,
+            -1508.8345278785569,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            236.08118203338276,
+            -1511.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            236.08118203338276,
+            -1511.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            236.08118203338276,
+            -1514.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            236.08118203338276,
+            -1517.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            236.08118203338276,
+            -1520.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            236.08118203338276,
+            -1523.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            236.08118203338276,
+            -1526.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            236.08118203338276,
+            -1529.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            236.08118203338276,
+            -1532.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            236.08118203338276,
+            -1535.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            236.08118203338276,
+            -1538.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            236.08118203338276,
+            -1541.4326040899102,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1560.0,
+            -206.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-47-22_1634296630/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-47-22_1634296630/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f643e3aac3a678e3b59bec58ccc825f8f18be223
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-47-22_1634296630/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -212.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -209.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -206.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -203.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -200.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -197.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -194.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -191.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -188.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -185.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -182.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -179.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -179.36197880628185,
+            -1409.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -176.76390259492854,
+            -1410.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -174.16582638357522,
+            -1412.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -171.5677501722219,
+            -1413.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -168.9696739608686,
+            -1415.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -166.37159774951527,
+            -1416.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -163.77352153816196,
+            -1418.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -161.17544532680864,
+            -1419.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -158.57736911545533,
+            -1421.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -155.979292904102,
+            -1422.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -153.3812166927487,
+            -1424.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -150.78314048139538,
+            -1425.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -148.18506427004206,
+            -1427.0926381431084,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -145.58698805868875,
+            -1428.5926381431084,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -124.0,
+            -1432.0,
+            -247.32
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-55-7_995097051/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-55-7_995097051/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5ec5d67bb55c4a7f98f786cf0d262ab3ef27509
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-10_3-55-7_995097051/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -652.2749666048563,
+            -2153.2333303682312,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -653.7749666048563,
+            -2155.8314065795844,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -655.2749666048563,
+            -2158.4294827909375,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -656.7749666048563,
+            -2161.0275590022907,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -658.2749666048563,
+            -2163.625635213644,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -659.7749666048563,
+            -2166.223711424997,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -661.2749666048563,
+            -2168.82178763635,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -662.7749666048563,
+            -2171.4198638477033,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -664.2749666048563,
+            -2174.0179400590564,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -665.7749666048563,
+            -2176.6160162704095,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -667.2749666048563,
+            -2179.2140924817627,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -668.7749666048563,
+            -2181.812168693116,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -670.2749666048563,
+            -2184.410244904469,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -671.7749666048563,
+            -2187.008321115822,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-27-20_1804289383/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-27-20_1804289383/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48598c5cd229c0f1bfe9f6aac0e867799dbf4fba
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-27-20_1804289383/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            317.37943402816614,
+            -1383.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            314.78135781681283,
+            -1384.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            312.1832816054595,
+            -1386.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            309.5852053941062,
+            -1387.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            306.9871291827529,
+            -1389.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            304.38905297139956,
+            -1390.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            301.79097676004625,
+            -1392.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            299.19290054869293,
+            -1393.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            296.5948243373396,
+            -1395.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            293.9967481259863,
+            -1396.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            291.398671914633,
+            -1398.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            288.80059570327967,
+            -1399.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            286.20251949192635,
+            -1401.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            283.60444328057304,
+            -1402.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            281.0063670692197,
+            -1404.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            278.4082908578664,
+            -1405.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            275.8102146465131,
+            -1407.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            273.2121384351598,
+            -1408.568703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            270.61406222380646,
+            -1410.068703518254,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            270.61406222380646,
+            -1410.068703518254,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            269.11406222380646,
+            -1412.6667797296075,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            267.61406222380646,
+            -1415.2648559409608,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            266.11406222380646,
+            -1417.8629321523142,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            264.61406222380646,
+            -1420.4610083636676,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-58-56_1600028624/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-58-56_1600028624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e58e29356617c62b18a9f31cad250cc1f0a1fb4a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_20-58-56_1600028624/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -261.3410862287104,
+            -1595.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -258.3410862287104,
+            -1595.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -255.34108622871042,
+            -1595.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -252.34108622871042,
+            -1595.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -252.34108622871042,
+            -1595.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -249.7430100173571,
+            -1594.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -247.1449338060038,
+            -1592.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -244.54685759465048,
+            -1591.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -241.94878138329716,
+            -1589.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -239.35070517194384,
+            -1588.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -236.75262896059053,
+            -1586.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -234.1545527492372,
+            -1585.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -231.5564765378839,
+            -1583.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -228.95840032653058,
+            -1582.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -226.36032411517726,
+            -1580.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -223.76224790382395,
+            -1579.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -221.16417169247063,
+            -1577.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -218.56609548111732,
+            -1576.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -215.968019269764,
+            -1574.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -213.36994305841068,
+            -1573.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -210.77186684705737,
+            -1571.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -208.17379063570405,
+            -1570.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -205.57571442435074,
+            -1568.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -202.97763821299742,
+            -1567.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -200.3795620016441,
+            -1565.9430123137356,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -197.7814857902908,
+            -1564.4430123137356,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-19-40_1544617505/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-19-40_1544617505/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d0180703a05e1e181b37e5adbf234ec7411559ce
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-19-40_1544617505/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -998.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -995.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -992.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -989.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -986.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -983.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -980.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -977.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -977.0386007258335,
+            -2908.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -974.4405245144801,
+            -2910.06002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -971.8424483031267,
+            -2911.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -969.2443720917734,
+            -2913.06002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -966.64629588042,
+            -2914.56002314016,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -966.64629588042,
+            -2914.56002314016,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -965.14629588042,
+            -2917.158099351513,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -963.64629588042,
+            -2919.7561755628662,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -962.14629588042,
+            -2922.3542517742194,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -960.64629588042,
+            -2924.9523279855725,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -959.14629588042,
+            -2927.5504041969257,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-21-9_722308542/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-21-9_722308542/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9871202b88c5d9a2902a5ca7f79caacccf13c21c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-21-9_722308542/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -217.33816678499574,
+            -2026.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -217.33816678499574,
+            -2029.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -217.33816678499574,
+            -2032.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -217.33816678499574,
+            -2035.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -217.33816678499574,
+            -2038.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -217.33816678499574,
+            -2041.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -217.33816678499574,
+            -2044.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -217.33816678499574,
+            -2047.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -217.33816678499574,
+            -2050.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -217.33816678499574,
+            -2053.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -217.33816678499574,
+            -2056.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -217.33816678499574,
+            -2059.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -217.33816678499574,
+            -2062.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -217.33816678499574,
+            -2065.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -217.33816678499574,
+            -2068.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -217.33816678499574,
+            -2071.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -217.33816678499574,
+            -2074.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -217.33816678499574,
+            -2077.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -217.33816678499574,
+            -2080.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -217.33816678499574,
+            -2083.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -217.33816678499574,
+            -2086.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -217.33816678499574,
+            -2089.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -217.33816678499574,
+            -2092.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -217.33816678499574,
+            -2095.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -217.33816678499574,
+            -2098.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -217.33816678499574,
+            -2101.4440440729372,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -216.0,
+            -2120.0,
+            -258.336
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-37-40_1943327684/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-37-40_1943327684/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1033889494b8058ccd420bcb0eab901a93adf312
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-37-40_1943327684/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            194.71856948607285,
+            -1268.1132415379589,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            196.21856948607285,
+            -1270.7113177493122,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            197.71856948607285,
+            -1273.3093939606656,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            199.21856948607285,
+            -1275.907470172019,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            199.21856948607285,
+            -1275.907470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            201.81664569742617,
+            -1277.407470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            204.41472190877948,
+            -1278.907470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            207.0127981201328,
+            -1280.407470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            209.61087433148612,
+            -1281.907470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            212.20895054283943,
+            -1283.407470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            214.80702675419275,
+            -1284.907470172019,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            214.80702675419275,
+            -1284.907470172019,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            216.30702675419275,
+            -1287.5055463833723,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            217.80702675419275,
+            -1290.1036225947257,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            219.30702675419275,
+            -1292.701698806079,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            220.80702675419275,
+            -1295.2997750174325,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            222.30702675419275,
+            -1297.8978512287858,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1316.0,
+            -219.268
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-42-11_1799878206/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-42-11_1799878206/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d490ca41c17ef996e4a2cd6737bdd4407de37818
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-42-11_1799878206/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -933.2589695192341,
+            -2873.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -933.2589695192341,
+            -2876.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -933.2589695192341,
+            -2879.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -933.2589695192341,
+            -2882.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -933.2589695192341,
+            -2885.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -933.2589695192341,
+            -2888.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -933.2589695192341,
+            -2891.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -933.2589695192341,
+            -2894.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -933.2589695192341,
+            -2897.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -933.2589695192341,
+            -2900.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -933.2589695192341,
+            -2903.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -933.2589695192341,
+            -2906.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -933.2589695192341,
+            -2909.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -933.2589695192341,
+            -2912.865388231509,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -933.2589695192341,
+            -2912.865388231509,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -934.7589695192341,
+            -2915.463464442862,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -936.2589695192341,
+            -2918.061540654215,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-43-53_296864819/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-43-53_296864819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..012bb3f8c33ee587f11917e6794bf1e7d4fb3862
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-43-53_296864819/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -601.34963118488,
+            -1869.8770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -603.9477073962332,
+            -1871.3770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -606.5457836075866,
+            -1872.8770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -609.14385981894,
+            -1874.3770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -611.7419360302933,
+            -1875.8770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -614.3400122416467,
+            -1877.3770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -616.9380884530001,
+            -1878.8770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -619.5361646643535,
+            -1880.3770348385872,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -619.5361646643535,
+            -1880.3770348385872,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -621.0361646643535,
+            -1882.9751110499406,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -622.5361646643535,
+            -1885.573187261294,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -624.0361646643535,
+            -1888.1712634726473,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -625.5361646643535,
+            -1890.7693396840007,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -627.0361646643535,
+            -1893.367415895354,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-47-40_1389867269/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-47-40_1389867269/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0417816318307674fcdff6138203e03731043
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-47-40_1389867269/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            128.8044342626341,
+            -1754.681372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            126.20635805128077,
+            -1753.181372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            123.60828183992746,
+            -1751.681372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            121.01020562857414,
+            -1750.181372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            118.41212941722083,
+            -1748.681372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            115.81405320586751,
+            -1747.181372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            113.2159769945142,
+            -1745.681372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            110.61790078316088,
+            -1744.181372710111,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            110.61790078316088,
+            -1744.181372710111,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            109.11790078316088,
+            -1741.5832964987576,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            107.61790078316088,
+            -1738.9852202874042,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            106.11790078316088,
+            -1736.3871440760508,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            104.61790078316088,
+            -1733.7890678646975,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            103.11790078316088,
+            -1731.190991653344,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            101.61790078316088,
+            -1728.5929154419907,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            100.11790078316088,
+            -1725.9948392306374,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-48-46_917679292/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-48-46_917679292/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7578b99b81432089b880a875b99fed59a0ab327
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_21-48-46_917679292/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            358.9174294228484,
+            -2173.1437032276917,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            361.9174294228484,
+            -2173.1437032276917,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            364.9174294228484,
+            -2173.1437032276917,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            364.9174294228484,
+            -2173.1437032276917,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            367.5155056342017,
+            -2174.6437032276917,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            370.113581845555,
+            -2176.1437032276917,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            440.0,
+            -2200.0,
+            -205.967
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-55-15_19485054/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-55-15_19485054/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..83cd8af4711693cde749f5d181ddec27f1893ffd
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-55-15_19485054/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1272.6142316752985,
+            -3026.282720748452,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1274.1142316752985,
+            -3023.684644537099,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1275.6142316752985,
+            -3021.0865683257457,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1277.1142316752985,
+            -3018.4884921143926,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1278.6142316752985,
+            -3015.8904159030394,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1280.1142316752985,
+            -3013.2923396916863,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1281.6142316752985,
+            -3010.694263480333,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1283.1142316752985,
+            -3008.09618726898,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1284.6142316752985,
+            -3005.498111057627,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1286.1142316752985,
+            -3002.9000348462737,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1287.6142316752985,
+            -3000.3019586349205,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1289.1142316752985,
+            -2997.7038824235674,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1290.6142316752985,
+            -2995.1058062122142,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1292.1142316752985,
+            -2992.507730000861,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1292.1142316752985,
+            -2992.507730000861,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1292.1142316752985,
+            -2989.507730000861,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1292.1142316752985,
+            -2986.507730000861,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1292.1142316752985,
+            -2983.507730000861,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            -257.331
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-9-56_235649157/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-9-56_235649157/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ec4370e9a8b1d657ca37d869e99d3b6973952261
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_22-9-56_235649157/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            174.55650221157174,
+            -1581.9382180433745,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            173.05650221157174,
+            -1584.5362942547279,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            171.55650221157174,
+            -1587.1343704660812,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            170.05650221157174,
+            -1589.7324466774346,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            168.55650221157174,
+            -1592.330522888788,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            167.05650221157174,
+            -1594.9285991001414,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            165.55650221157174,
+            -1597.5266753114947,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            164.05650221157174,
+            -1600.124751522848,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            162.55650221157174,
+            -1602.7228277342015,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            161.05650221157174,
+            -1605.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            161.05650221157174,
+            -1605.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            158.45842600021842,
+            -1606.8209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            155.8603497888651,
+            -1608.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            153.2622735775118,
+            -1609.8209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            150.66419736615848,
+            -1611.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            148.06612115480516,
+            -1612.8209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            145.46804494345184,
+            -1614.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            142.86996873209853,
+            -1615.8209039455548,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            140.2718925207452,
+            -1617.3209039455548,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-12-17_1615935710/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-12-17_1615935710/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b55945ad6d89cbfc8736e55189e377c585dbf4f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-12-17_1615935710/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -279.55299482471867,
+            -2409.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -279.55299482471867,
+            -2406.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -279.55299482471867,
+            -2403.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -279.55299482471867,
+            -2400.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -279.55299482471867,
+            -2397.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -279.55299482471867,
+            -2394.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -279.55299482471867,
+            -2391.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -279.55299482471867,
+            -2388.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -279.55299482471867,
+            -2385.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -279.55299482471867,
+            -2382.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -279.55299482471867,
+            -2379.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -279.55299482471867,
+            -2376.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -279.55299482471867,
+            -2373.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -279.55299482471867,
+            -2370.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -279.55299482471867,
+            -2367.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -279.55299482471867,
+            -2367.7068018845675,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -281.05299482471867,
+            -2365.1087256732144,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -282.55299482471867,
+            -2362.5106494618612,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -284.05299482471867,
+            -2359.912573250508,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -285.55299482471867,
+            -2357.314497039155,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -287.05299482471867,
+            -2354.716420827802,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-33-49_1669679262/pose.jsonl b/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-33-49_1669679262/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c2c5ceb981e27a9c64b4c2ef559c5d194589f2cf
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/high_short/2025-1-9_23-33-49_1669679262/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            34.175914780868084,
+            -1494.648311810083,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            35.675914780868084,
+            -1492.0502355987296,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            37.175914780868084,
+            -1489.4521593873762,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            38.675914780868084,
+            -1486.8540831760229,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            40.175914780868084,
+            -1484.2560069646695,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            41.675914780868084,
+            -1481.6579307533161,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            43.175914780868084,
+            -1479.0598545419627,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            44.675914780868084,
+            -1476.4617783306094,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            46.175914780868084,
+            -1473.863702119256,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            47.675914780868084,
+            -1471.2656259079026,
+            -250.6683124086241
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            47.675914780868084,
+            -1471.2656259079026,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            47.675914780868084,
+            -1468.2656259079026,
+            -250.6683124086241
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            47.675914780868084,
+            -1465.2656259079026,
+            -250.6683124086241
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            60.0,
+            -1440.0,
+            -258.248
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-01-19_03-45-19_231376/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-01-19_03-45-19_231376/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f723978fe953dddf239b6432b89d6783da6b0180
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-01-19_03-45-19_231376/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            774.8626332887703,
+            -1510.0263797690627,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            774.8626332887703,
+            -1507.0263797690627,
+            -270.6537207570657
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            774.8626332887703,
+            -1507.0263797690627,
+            -267.6537207570657
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            774.8626332887703,
+            -1507.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            774.8626332887703,
+            -1504.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            774.8626332887703,
+            -1501.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            774.8626332887703,
+            -1498.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            774.8626332887703,
+            -1495.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            774.8626332887703,
+            -1492.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            774.8626332887703,
+            -1489.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            774.8626332887703,
+            -1486.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            774.8626332887703,
+            -1483.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            774.8626332887703,
+            -1480.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            774.8626332887703,
+            -1477.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.8626332887703,
+            -1474.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            774.8626332887703,
+            -1471.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            774.8626332887703,
+            -1468.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            774.8626332887703,
+            -1465.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            774.8626332887703,
+            -1462.0263797690627,
+            -264.6537207570657
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            774.8626332887703,
+            -1462.0263797690627,
+            -267.6537207570657
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            774.8626332887703,
+            -1462.0263797690627,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            774.8626332887703,
+            -1462.0263797690627,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            773.3626332887703,
+            -1459.4283035577093,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            772.0,
+            -1436.0,
+            -285.079
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-38-32_1125898167/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-38-32_1125898167/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..594963aaa9ee5ab884ae8e63198fe789689aac64
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-38-32_1125898167/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1206.0647501410822,
+            -2222.3185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1208.6628263524356,
+            -2223.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1211.260902563789,
+            -2225.3185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1213.8589787751423,
+            -2226.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1216.4570549864957,
+            -2228.3185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1219.055131197849,
+            -2229.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1221.6532074092024,
+            -2231.3185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1224.2512836205558,
+            -2232.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1226.8493598319092,
+            -2234.3185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1229.4474360432625,
+            -2235.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1229.4474360432625,
+            -2235.8185091055366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1230.9474360432625,
+            -2238.4165853168897,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1232.4474360432625,
+            -2241.014661528243,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1233.9474360432625,
+            -2243.612737739596,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1235.4474360432625,
+            -2246.210813950949,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1236.9474360432625,
+            -2248.8088901623023,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1238.4474360432625,
+            -2251.4069663736555,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1239.9474360432625,
+            -2254.0050425850086,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1241.4474360432625,
+            -2256.6031187963617,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1260.0,
+            -2276.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-41-8_1734575198/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-41-8_1734575198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..308b8475342eaa61eb219f244a9fad29643c9962
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-41-8_1734575198/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1085.4966780181726,
+            -2337.0075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1088.094754229526,
+            -2335.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1090.6928304408793,
+            -2334.0075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1093.2909066522327,
+            -2332.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1095.888982863586,
+            -2331.0075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1098.4870590749395,
+            -2329.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1101.0851352862928,
+            -2328.0075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1103.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1103.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1106.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1109.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1112.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1115.6832114976462,
+            -2326.5075414825883,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-43-29_42999170/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-43-29_42999170/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4801931a726d428cb784bf179b82f0f3b14a568
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-43-29_42999170/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            109.07843247579116,
+            -1554.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            109.07843247579116,
+            -1557.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            109.07843247579116,
+            -1560.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            109.07843247579116,
+            -1563.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            109.07843247579116,
+            -1566.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            109.07843247579116,
+            -1569.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            109.07843247579116,
+            -1572.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            109.07843247579116,
+            -1575.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            109.07843247579116,
+            -1578.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            109.07843247579116,
+            -1581.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            109.07843247579116,
+            -1584.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            109.07843247579116,
+            -1587.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            109.07843247579116,
+            -1590.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            109.07843247579116,
+            -1593.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            109.07843247579116,
+            -1596.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            109.07843247579116,
+            -1596.5953442284829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            110.57843247579116,
+            -1599.1934204398362,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            112.07843247579116,
+            -1601.7914966511896,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            113.57843247579116,
+            -1604.389572862543,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            115.07843247579116,
+            -1606.9876490738964,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            116.57843247579116,
+            -1609.5857252852497,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            118.07843247579116,
+            -1612.183801496603,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            119.57843247579116,
+            -1614.7818777079565,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            121.07843247579116,
+            -1617.3799539193099,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-13_572660336/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-13_572660336/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13da70325ebd0900d8a5931336f75cad2e5010bb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-45-13_572660336/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -480.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -483.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -486.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -489.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -492.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -495.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -498.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -501.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -504.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -507.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -510.13147753812194,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -513.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -516.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -519.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -522.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -525.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -528.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -528.131477538122,
+            -2314.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -530.7295537494754,
+            -2312.6091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -533.3276299608287,
+            -2311.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -535.9257061721821,
+            -2309.6091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -538.5237823835355,
+            -2308.1091451939105,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -541.1218585948889,
+            -2306.6091451939105,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-46-17_1433925857/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-46-17_1433925857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4d42c646520dcf4f3aca57549e1c4dd0898c1a0c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_11-46-17_1433925857/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -240.81610013439615,
+            -2194.399514303639,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -239.31610013439615,
+            -2191.801438092286,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -237.81610013439615,
+            -2189.203361880933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -236.31610013439615,
+            -2186.6052856695796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -234.81610013439615,
+            -2184.0072094582265,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -233.31610013439615,
+            -2181.4091332468734,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -231.81610013439615,
+            -2178.81105703552,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -230.31610013439615,
+            -2176.212980824167,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -228.81610013439615,
+            -2173.614904612814,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -227.31610013439615,
+            -2171.0168284014608,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -225.81610013439615,
+            -2168.4187521901076,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -224.31610013439615,
+            -2165.8206759787545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -222.81610013439615,
+            -2163.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -222.81610013439615,
+            -2163.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -222.81610013439615,
+            -2160.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -222.81610013439615,
+            -2157.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -222.81610013439615,
+            -2154.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -222.81610013439615,
+            -2151.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -222.81610013439615,
+            -2148.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -222.81610013439615,
+            -2145.2225997674013,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -216.0,
+            -2120.0,
+            -258.336
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-10-0_1982275856/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-10-0_1982275856/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf07a608dec2f6b3430a6057fe00e43c2782bd19
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-10-0_1982275856/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            548.9526067716602,
+            -1409.6534275135166,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            547.4526067716602,
+            -1407.0553513021632,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            545.9526067716602,
+            -1404.4572750908098,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            544.4526067716602,
+            -1401.8591988794565,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            542.9526067716602,
+            -1399.261122668103,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            541.4526067716602,
+            -1396.6630464567497,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            539.9526067716602,
+            -1394.0649702453964,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            538.4526067716602,
+            -1391.466894034043,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            536.9526067716602,
+            -1388.8688178226896,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            535.4526067716602,
+            -1386.2707416113362,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            533.9526067716602,
+            -1383.6726653999829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            532.4526067716602,
+            -1381.0745891886295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            530.9526067716602,
+            -1378.4765129772761,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            529.4526067716602,
+            -1375.8784367659227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            527.9526067716602,
+            -1373.2803605545694,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-16-43_1432114613/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-16-43_1432114613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4f4678c7b7b4c98afb827b75f7e493ae033a12a6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-16-43_1432114613/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1230.9401273814335,
+            -2279.4003085936133,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1232.4401273814335,
+            -2276.80223238226,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1233.9401273814335,
+            -2274.204156170907,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1235.4401273814335,
+            -2271.606079959554,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1236.9401273814335,
+            -2269.0080037482007,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1238.4401273814335,
+            -2266.4099275368476,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1239.9401273814335,
+            -2263.8118513254944,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1241.4401273814335,
+            -2261.2137751141413,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1242.9401273814335,
+            -2258.615698902788,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1244.4401273814335,
+            -2256.017622691435,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1245.9401273814335,
+            -2253.419546480082,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1247.4401273814335,
+            -2250.8214702687287,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1248.9401273814335,
+            -2248.2233940573756,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1248.9401273814335,
+            -2248.2233940573756,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1251.5382035927869,
+            -2246.7233940573756,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1254.1362798041403,
+            -2245.2233940573756,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1256.7343560154936,
+            -2243.7233940573756,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1259.332432226847,
+            -2242.2233940573756,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-18-14_532670688/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-18-14_532670688/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ea5457f4c3358310d6d6ab5a64fe34d0fcd51b8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-18-14_532670688/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -640.4420690485,
+            -1856.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -640.4420690485,
+            -1859.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -640.4420690485,
+            -1862.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -640.4420690485,
+            -1865.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -640.4420690485,
+            -1868.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -640.4420690485,
+            -1868.1547112091823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -641.9420690485,
+            -1870.7527874205357,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -643.4420690485,
+            -1873.350863631889,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-21-43_243268139/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-21-43_243268139/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e396391b041eb79043812ef2485d3d3c2daade7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-21-43_243268139/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            399.85839258137906,
+            -1247.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            397.26031637002575,
+            -1246.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            394.66224015867243,
+            -1244.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            392.0641639473191,
+            -1243.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            389.4660877359658,
+            -1241.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            386.8680115246125,
+            -1240.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            384.26993531325917,
+            -1238.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            381.67185910190585,
+            -1237.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            379.07378289055254,
+            -1235.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            376.4757066791992,
+            -1234.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            373.8776304678459,
+            -1232.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            371.2795542564926,
+            -1231.2425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            368.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            368.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            365.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            362.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            359.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            356.6814780451393,
+            -1229.7425647420723,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            -1220.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-30-25_559412924/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-30-25_559412924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..feb581e54653dee33288fe244fed5f4a3aadb897
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-30-25_559412924/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1323.9647217258848,
+            -3020.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1323.9647217258848,
+            -3017.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1323.9647217258848,
+            -3014.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1323.9647217258848,
+            -3011.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1323.9647217258848,
+            -3008.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1323.9647217258848,
+            -3005.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1323.9647217258848,
+            -3002.884670712521,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1323.9647217258848,
+            -3002.884670712521,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1322.4647217258848,
+            -3000.2865945011677,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1320.9647217258848,
+            -2997.6885182898145,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1319.4647217258848,
+            -2995.0904420784614,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1317.9647217258848,
+            -2992.492365867108,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1316.4647217258848,
+            -2989.894289655755,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1314.9647217258848,
+            -2987.296213444402,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1313.4647217258848,
+            -2984.698137233049,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1308.0,
+            -2948.0,
+            -257.331
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-36-53_1967681095/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-36-53_1967681095/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ff20087e0b32db0de6536e73819205376292051
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-36-53_1967681095/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -778.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -775.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -772.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -769.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -766.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -763.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -760.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -757.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -754.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -751.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -748.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -745.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -742.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -742.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -742.1601575908923,
+            -1965.2360537522886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -740.6601575908923,
+            -1962.6379775409353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -739.1601575908923,
+            -1960.0399013295819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -737.6601575908923,
+            -1957.4418251182285,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -736.1601575908923,
+            -1954.8437489068751,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -734.6601575908923,
+            -1952.2456726955218,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -733.1601575908923,
+            -1949.6475964841684,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -731.6601575908923,
+            -1947.049520272815,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -712.0,
+            -1940.0,
+            -205.963
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-43-14_476667372/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-43-14_476667372/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1ae1016be918e8a99a62b9f0620c9d2eeefb75ab
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-43-14_476667372/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -547.5041567763417,
+            -2374.2856610880913,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -549.0041567763417,
+            -2371.687584876738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -550.5041567763417,
+            -2369.089508665385,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -552.0041567763417,
+            -2366.491432454032,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -553.5041567763417,
+            -2363.8933562426787,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -555.0041567763417,
+            -2361.2952800313255,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -556.5041567763417,
+            -2358.6972038199724,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -558.0041567763417,
+            -2356.0991276086193,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -559.5041567763417,
+            -2353.501051397266,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -561.0041567763417,
+            -2350.902975185913,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -562.5041567763417,
+            -2348.30489897456,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -562.5041567763417,
+            -2348.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794925
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -562.5041567763417,
+            -2345.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -562.5041567763417,
+            -2342.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -562.5041567763417,
+            -2339.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -562.5041567763417,
+            -2336.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -562.5041567763417,
+            -2333.30489897456,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -562.5041567763417,
+            -2330.30489897456,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-59_11614769/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-59_11614769/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9adba2c3641f34b6dff49954ca93b1089584b35a
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-59_11614769/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1212.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1209.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1206.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1203.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1200.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1200.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1200.254094744661,
+            -2347.3674525899096,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1198.754094744661,
+            -2344.7693763785564,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1197.254094744661,
+            -2342.1713001672033,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1195.754094744661,
+            -2339.57322395585,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1194.254094744661,
+            -2336.975147744497,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1192.754094744661,
+            -2334.377071533144,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1192.754094744661,
+            -2334.377071533144,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1190.1560185333076,
+            -2332.877071533144,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1187.5579423219542,
+            -2331.377071533144,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1184.9598661106008,
+            -2329.877071533144,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1182.3617898992475,
+            -2328.377071533144,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-9_726371155/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-9_726371155/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d963ab83fceebb64e9676951befb6bc4e206fae3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-53-9_726371155/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1104.950117823819,
+            -2357.8994578873994,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1106.450117823819,
+            -2355.3013816760463,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1107.950117823819,
+            -2352.703305464693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1109.450117823819,
+            -2350.10522925334,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1109.450117823819,
+            -2350.10522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1112.0481940351724,
+            -2348.60522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1114.6462702465258,
+            -2347.10522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1117.2443464578791,
+            -2345.60522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1119.8424226692325,
+            -2344.10522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1122.440498880586,
+            -2342.60522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1125.0385750919393,
+            -2341.10522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1127.6366513032926,
+            -2339.60522925334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1130.234727514646,
+            -2338.10522925334,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-59-54_1486222842/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-59-54_1486222842/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4324336ac09f5cdb895e105eee134495c218eeca
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_12-59-54_1486222842/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -734.2452735222632,
+            -2265.7732931797914,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -732.7452735222632,
+            -2263.1752169684382,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -731.2452735222632,
+            -2260.577140757085,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -729.7452735222632,
+            -2257.979064545732,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -728.2452735222632,
+            -2255.380988334379,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -726.7452735222632,
+            -2252.7829121230257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -725.2452735222632,
+            -2250.1848359116725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -723.7452735222632,
+            -2247.5867597003194,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -723.7452735222632,
+            -2247.5867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -721.1471973109099,
+            -2246.0867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -718.5491210995565,
+            -2244.5867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -715.9510448882031,
+            -2243.0867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -713.3529686768497,
+            -2241.5867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -710.7548924654964,
+            -2240.0867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -708.156816254143,
+            -2238.5867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -705.5587400427896,
+            -2237.0867597003194,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -705.5587400427896,
+            -2237.0867597003194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -704.0587400427896,
+            -2234.488683488966,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-22-44_1780172261/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-22-44_1780172261/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f39d81131b46f8fadb7b69e1e754c38487745ed3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-22-44_1780172261/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            127.4610084318424,
+            -1591.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            130.05908464319572,
+            -1592.7012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            132.65716085454903,
+            -1594.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            135.25523706590235,
+            -1595.7012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            137.85331327725567,
+            -1597.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            140.45138948860898,
+            -1598.7012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            143.0494656999623,
+            -1600.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            145.6475419113156,
+            -1601.7012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            148.24561812266893,
+            -1603.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            150.84369433402225,
+            -1604.7012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            153.44177054537556,
+            -1606.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            153.44177054537556,
+            -1606.2012337987774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            154.94177054537556,
+            -1608.7993100101307,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            156.44177054537556,
+            -1611.397386221484,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            157.94177054537556,
+            -1613.9954624328375,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            159.44177054537556,
+            -1616.5935386441909,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            160.94177054537556,
+            -1619.1916148555442,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            162.44177054537556,
+            -1621.7896910668976,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            163.94177054537556,
+            -1624.387767278251,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.0,
+            -1636.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-23-39_847228023/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-23-39_847228023/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3a113ccb798b39edfd9bee0d2d3d2cf1ed21698
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-23-39_847228023/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            119.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            122.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            125.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            128.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            131.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            131.15370717039383,
+            -1670.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            133.75178338174715,
+            -1669.4841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            136.34985959310046,
+            -1667.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            138.94793580445378,
+            -1666.4841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            141.5460120158071,
+            -1664.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            144.1440882271604,
+            -1663.4841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            146.74216443851373,
+            -1661.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            149.34024064986704,
+            -1660.4841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            151.93831686122036,
+            -1658.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            151.93831686122036,
+            -1658.9841967095049,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            153.43831686122036,
+            -1656.3861204981515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            154.93831686122036,
+            -1653.7880442867981,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            156.43831686122036,
+            -1651.1899680754448,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            157.93831686122036,
+            -1648.5918918640914,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            159.43831686122036,
+            -1645.993815652738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            160.93831686122036,
+            -1643.3957394413846,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.0,
+            -1636.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-24-6_1866000081/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-24-6_1866000081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a22100aea7a1556aa74c6135b93cbf56a746a0c6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-24-6_1866000081/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            959.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            962.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            965.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            968.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            971.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            974.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            977.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            980.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            983.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            986.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            989.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            992.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            995.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            998.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1001.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1004.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1007.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1010.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1010.5557058450669,
+            -2215.3501970428933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1013.1537820564201,
+            -2213.8501970428933,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-33-53_1051858969/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-33-53_1051858969/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb6bbda37779897348a9a5efd1401bcd7af93364
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-33-53_1051858969/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            410.4130841657057,
+            -1739.4445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            407.8150079543524,
+            -1740.9445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            405.21693174299907,
+            -1742.4445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            402.61885553164575,
+            -1743.9445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            400.02077932029243,
+            -1745.4445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            397.4227031089391,
+            -1746.9445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            394.8246268975858,
+            -1748.4445074828366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            392.2265506862325,
+            -1749.9445074828366,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            360.0,
+            -1776.0,
+            -267.209
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-34-15_104152274/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-34-15_104152274/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f379265471d3cd28093831f39fd4bae634f1f15d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-34-15_104152274/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            462.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            465.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            468.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            471.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            474.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            477.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            480.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            480.27822143939744,
+            -1682.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            482.87629765075076,
+            -1683.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            485.4743738621041,
+            -1685.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            488.0724500734574,
+            -1686.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            490.6705262848107,
+            -1688.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            493.268602496164,
+            -1689.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            495.86667870751734,
+            -1691.4513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            498.46475491887065,
+            -1692.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            498.46475491887065,
+            -1692.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            501.46475491887065,
+            -1692.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            504.46475491887065,
+            -1692.9513546887856,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            532.0,
+            -1700.0,
+            -276.715
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-54-55_1021784812/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-54-55_1021784812/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7d2aa359d900a9503c9dfbd81c4b896e39470b0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-54-55_1021784812/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            448.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            451.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            454.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            457.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            457.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            457.5356042153593,
+            -1985.420408343449,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            459.0356042153593,
+            -1982.8223321320957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            460.5356042153593,
+            -1980.2242559207423,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            462.0356042153593,
+            -1977.626179709389,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            463.5356042153593,
+            -1975.0281034980355,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            465.0356042153593,
+            -1972.4300272866822,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            466.5356042153593,
+            -1969.8319510753288,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            468.0356042153593,
+            -1967.2338748639754,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            468.0356042153593,
+            -1967.2338748639754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            470.6336804267126,
+            -1965.7338748639754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            473.2317566380659,
+            -1964.2338748639754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            475.82983284941923,
+            -1962.7338748639754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            478.42790906077255,
+            -1961.2338748639754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            481.02598527212587,
+            -1959.7338748639754,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            524.0,
+            -1928.0,
+            -280.21
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-57-11_358984857/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-57-11_358984857/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..01d02f5a3ece63ddec35b698271d2eb2acca0eff
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-57-11_358984857/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -129.3800670902224,
+            -1502.9431725437823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -130.8800670902224,
+            -1505.5412487551357,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -132.3800670902224,
+            -1508.139324966489,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -133.8800670902224,
+            -1510.7374011778425,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -135.3800670902224,
+            -1513.3354773891958,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -136.8800670902224,
+            -1515.9335536005492,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -138.3800670902224,
+            -1518.5316298119026,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -139.8800670902224,
+            -1521.129706023256,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -141.3800670902224,
+            -1523.7277822346093,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -141.3800670902224,
+            -1523.7277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -143.97814330157573,
+            -1525.2277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -146.57621951292904,
+            -1526.7277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -149.17429572428236,
+            -1528.2277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -151.77237193563568,
+            -1529.7277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -154.370448146989,
+            -1531.2277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -156.9685243583423,
+            -1532.7277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -159.56660056969562,
+            -1534.2277822346093,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -159.56660056969562,
+            -1534.2277822346093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -161.06660056969562,
+            -1536.8258584459627,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-59-38_1392740049/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-59-38_1392740049/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0c45c02bcabdaa5d9e7f4580c5011edfa0d90e01
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_13-59-38_1392740049/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1153.977645248627,
+            -2208.562488944892,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1155.477645248627,
+            -2205.9644127335387,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1156.977645248627,
+            -2203.3663365221855,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1158.477645248627,
+            -2200.7682603108324,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1159.977645248627,
+            -2198.1701840994792,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1161.477645248627,
+            -2195.572107888126,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1162.977645248627,
+            -2192.974031676773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1164.477645248627,
+            -2190.37595546542,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1165.977645248627,
+            -2187.7778792540666,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1167.477645248627,
+            -2185.1798030427135,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1168.977645248627,
+            -2182.5817268313604,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1170.477645248627,
+            -2179.983650620007,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1171.977645248627,
+            -2177.385574408654,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1171.977645248627,
+            -2177.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1174.5757214599803,
+            -2175.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1177.1737976713337,
+            -2174.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1179.771873882687,
+            -2172.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1182.3699500940404,
+            -2171.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1184.9680263053938,
+            -2169.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1187.5661025167472,
+            -2168.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1190.1641787281005,
+            -2166.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1192.762254939454,
+            -2165.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1195.3603311508073,
+            -2163.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1197.9584073621606,
+            -2162.385574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1200.556483573514,
+            -2160.885574408654,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1200.556483573514,
+            -2160.885574408654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1202.056483573514,
+            -2158.287498197301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1203.556483573514,
+            -2155.689421985948,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-16-17_1460082195/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-16-17_1460082195/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..296391c426a3ed99dd9f6392cc8687e7a278b826
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-16-17_1460082195/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1203.8866898185406,
+            -2162.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1206.484766029894,
+            -2164.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1209.0828422412474,
+            -2165.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1211.6809184526007,
+            -2167.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1214.278994663954,
+            -2168.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1216.8770708753075,
+            -2170.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1219.4751470866609,
+            -2171.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1222.0732232980142,
+            -2173.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1224.6712995093676,
+            -2174.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1227.269375720721,
+            -2176.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1229.8674519320743,
+            -2177.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1232.4655281434277,
+            -2179.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1235.063604354781,
+            -2180.7218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1237.6616805661345,
+            -2182.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1237.6616805661345,
+            -2182.2218459881474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1239.1616805661345,
+            -2184.8199221995005,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1240.6616805661345,
+            -2187.4179984108537,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1242.1616805661345,
+            -2190.016074622207,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1243.6616805661345,
+            -2192.61415083356,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1245.1616805661345,
+            -2195.212227044913,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1246.6616805661345,
+            -2197.8103032562663,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1248.1616805661345,
+            -2200.4083794676194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1249.6616805661345,
+            -2203.0064556789725,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1251.1616805661345,
+            -2205.6045318903257,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1251.1616805661345,
+            -2205.6045318903257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1253.7597567774878,
+            -2207.1045318903257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1256.3578329888412,
+            -2208.6045318903257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1258.9559092001946,
+            -2210.1045318903257,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-17-59_1467963981/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-17-59_1467963981/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8356d3fc9be0189aa06f61e573a408bd39a8d2d7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-17-59_1467963981/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            145.98577515453528,
+            -1574.9072025433925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            144.48577515453528,
+            -1577.5052787547459,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            142.98577515453528,
+            -1580.1033549660992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            141.48577515453528,
+            -1582.7014311774526,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            139.98577515453528,
+            -1585.299507388806,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            138.48577515453528,
+            -1587.8975836001594,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            136.98577515453528,
+            -1590.4956598115127,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            135.48577515453528,
+            -1593.093736022866,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            133.98577515453528,
+            -1595.6918122342195,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            132.48577515453528,
+            -1598.2898884455728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            130.98577515453528,
+            -1600.8879646569262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            129.48577515453528,
+            -1603.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            129.48577515453528,
+            -1603.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            129.48577515453528,
+            -1606.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            129.48577515453528,
+            -1609.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            129.48577515453528,
+            -1612.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            129.48577515453528,
+            -1615.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            129.48577515453528,
+            -1618.4860408682796,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-29_1131359211/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-29_1131359211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..336d848f1a98a9cc7ce8864be543b2eada996026
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-29_1131359211/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1021.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1018.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1015.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1012.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1009.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1006.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1003.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1000.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -997.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -994.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -991.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -988.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -985.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -982.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -979.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -976.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -973.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -973.229966647634,
+            -2313.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -970.6318904362806,
+            -2312.3510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -968.0338142249273,
+            -2310.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -965.4357380135739,
+            -2309.3510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -962.8376618022205,
+            -2307.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -960.2395855908671,
+            -2306.3510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -957.6415093795138,
+            -2304.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -955.0434331681604,
+            -2303.3510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -952.445356956807,
+            -2301.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -949.8472807454536,
+            -2300.3510311492464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -947.2492045341003,
+            -2298.8510311492464,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -936.0,
+            -2296.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-4_690367770/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-4_690367770/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e198baf4a3a220cf7afc22452117b4db1ad7708
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-19-4_690367770/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            39.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            42.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            45.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            51.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            51.37391860302533,
+            -1602.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            53.97199481437865,
+            -1604.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            56.57007102573196,
+            -1605.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            59.16814723708528,
+            -1607.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            61.766223448438595,
+            -1608.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            64.36429965979191,
+            -1610.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            66.96237587114523,
+            -1611.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            69.56045208249854,
+            -1613.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            72.15852829385186,
+            -1614.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            74.75660450520517,
+            -1616.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            77.35468071655849,
+            -1617.9080438961762,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            79.9527569279118,
+            -1619.4080438961762,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1636.0,
+            -258.132
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-30-44_204102747/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-30-44_204102747/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9f4602880035327c5e9dba4aa83d5880c5182d4
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-30-44_204102747/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1037.0709276730788,
+            -2081.027635416984,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1038.5709276730788,
+            -2078.429559205631,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1040.0709276730788,
+            -2075.831482994278,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1041.5709276730788,
+            -2073.2334067829247,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1043.0709276730788,
+            -2070.6353305715716,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1044.5709276730788,
+            -2068.0372543602184,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1046.0709276730788,
+            -2065.4391781488653,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1047.5709276730788,
+            -2062.841101937512,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1049.0709276730788,
+            -2060.243025726159,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1050.5709276730788,
+            -2057.644949514806,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1052.0709276730788,
+            -2055.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1052.0709276730788,
+            -2055.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1052.0709276730788,
+            -2052.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1052.0709276730788,
+            -2049.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1052.0709276730788,
+            -2046.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1052.0709276730788,
+            -2043.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1052.0709276730788,
+            -2040.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1052.0709276730788,
+            -2037.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1052.0709276730788,
+            -2034.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1052.0709276730788,
+            -2031.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1052.0709276730788,
+            -2028.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1052.0709276730788,
+            -2025.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1052.0709276730788,
+            -2022.0468733034527,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1060.0,
+            -1996.0,
+            -262.828
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-39-4_661955081/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-39-4_661955081/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b99ef52f6babbaa312e00f103f502c7cd4d4829
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-39-4_661955081/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1358.6206030159954,
+            -2819.364125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1356.022526804642,
+            -2817.864125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1353.4244505932886,
+            -2816.364125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1350.8263743819352,
+            -2814.864125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1348.2282981705819,
+            -2813.364125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1345.6302219592285,
+            -2811.864125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1343.0321457478751,
+            -2810.364125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1340.4340695365217,
+            -2808.864125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1337.8359933251684,
+            -2807.364125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1335.237917113815,
+            -2805.864125863875,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1332.6398409024616,
+            -2804.364125863875,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1276.0,
+            -2780.0,
+            -262.796
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-4-19_1421186593/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-4-19_1421186593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..97f21e101ee736b24a9672ed69285df1dccf10ce
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-4-19_1421186593/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            135.35680917465424,
+            -1563.970252818881,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            136.85680917465424,
+            -1566.5683290302343,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            138.35680917465424,
+            -1569.1664052415877,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            139.85680917465424,
+            -1571.764481452941,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            141.35680917465424,
+            -1574.3625576642944,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            142.85680917465424,
+            -1576.9606338756478,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            144.35680917465424,
+            -1579.5587100870011,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            145.85680917465424,
+            -1582.1567862983545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            147.35680917465424,
+            -1584.754862509708,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            148.85680917465424,
+            -1587.3529387210613,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            150.35680917465424,
+            -1589.9510149324146,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            151.85680917465424,
+            -1592.549091143768,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            153.35680917465424,
+            -1595.1471673551214,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            154.85680917465424,
+            -1597.7452435664748,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            156.35680917465424,
+            -1600.3433197778281,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            157.85680917465424,
+            -1602.9413959891815,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            159.35680917465424,
+            -1605.5394722005349,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            160.85680917465424,
+            -1608.1375484118882,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            162.35680917465424,
+            -1610.7356246232416,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            163.85680917465424,
+            -1613.333700834595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            165.35680917465424,
+            -1615.9317770459484,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            176.0,
+            -1636.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-19_1078898506/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-19_1078898506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b29bf21135a6f30f4d82cdb58997ee7d1119e720
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-19_1078898506/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            458.23188605704786,
+            -2474.144873622561,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            458.23188605704786,
+            -2477.144873622561,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            458.23188605704786,
+            -2480.144873622561,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            458.23188605704786,
+            -2483.144873622561,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            -2560.0,
+            -281.726
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-43_1442767057/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-43_1442767057/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a4a70d5f1b1eb5b355f986a41d2fa55251000710
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-48-43_1442767057/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -877.0309326377321,
+            -1801.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -879.6290088490855,
+            -1800.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -882.2270850604389,
+            -1798.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -884.8251612717922,
+            -1797.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -887.4232374831456,
+            -1795.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -890.021313694499,
+            -1794.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -892.6193899058524,
+            -1792.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -895.2174661172057,
+            -1791.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -897.8155423285591,
+            -1789.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -900.4136185399125,
+            -1788.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -903.0116947512658,
+            -1786.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -905.6097709626192,
+            -1785.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -908.2078471739726,
+            -1783.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -910.805923385326,
+            -1782.1682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -913.4039995966793,
+            -1780.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -913.4039995966793,
+            -1780.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -916.4039995966793,
+            -1780.6682878556262,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -948.0,
+            -1768.0,
+            -262.628
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-49_476564285/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-49_476564285/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2dde7991b674d9d913244fbe01e5b7711c45c51
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-53-49_476564285/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            903.4854162096468,
+            -1128.029314049268,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            901.9854162096468,
+            -1130.6273902606213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            900.4854162096468,
+            -1133.2254664719746,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            898.9854162096468,
+            -1135.823542683328,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            897.4854162096468,
+            -1138.4216188946814,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            895.9854162096468,
+            -1141.0196951060348,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            894.4854162096468,
+            -1143.6177713173881,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            892.9854162096468,
+            -1146.2158475287415,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            891.4854162096468,
+            -1148.8139237400949,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            889.9854162096468,
+            -1151.4119999514483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            888.4854162096468,
+            -1154.0100761628016,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            886.9854162096468,
+            -1156.608152374155,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            885.4854162096468,
+            -1159.2062285855084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            883.9854162096468,
+            -1161.8043047968617,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            882.4854162096468,
+            -1164.4023810082151,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            880.9854162096468,
+            -1167.0004572195685,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            879.4854162096468,
+            -1169.5985334309219,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            877.9854162096468,
+            -1172.1966096422752,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            877.9854162096468,
+            -1172.1966096422752,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            875.3873399982936,
+            -1173.6966096422752,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1192.0,
+            -257.332
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-57-53_1640170337/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-57-53_1640170337/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9489e6240c4986441b88a28c85122fbcb50583ae
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-57-53_1640170337/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            210.46715325057593,
+            -1353.4592167057378,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            211.96715325057593,
+            -1356.0572929170912,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            213.46715325057593,
+            -1358.6553691284446,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            214.96715325057593,
+            -1361.253445339798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            216.46715325057593,
+            -1363.8515215511513,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            217.96715325057593,
+            -1366.4495977625047,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            219.46715325057593,
+            -1369.047673973858,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            220.96715325057593,
+            -1371.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            220.96715325057593,
+            -1371.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            220.96715325057593,
+            -1374.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            220.96715325057593,
+            -1377.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            220.96715325057593,
+            -1380.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.96715325057593,
+            -1383.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            220.96715325057593,
+            -1386.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            220.96715325057593,
+            -1389.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            220.96715325057593,
+            -1392.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            220.96715325057593,
+            -1395.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            220.96715325057593,
+            -1398.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            220.96715325057593,
+            -1401.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            220.96715325057593,
+            -1404.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            220.96715325057593,
+            -1407.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            220.96715325057593,
+            -1407.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            220.96715325057593,
+            -1407.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            223.56522946192925,
+            -1409.1457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            226.16330567328257,
+            -1410.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            226.16330567328257,
+            -1410.6457501852115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            227.66330567328257,
+            -1413.2438263965648,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            229.16330567328257,
+            -1415.8419026079182,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            230.66330567328257,
+            -1418.4399788192716,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-6-28_1500474762/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-6-28_1500474762/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94b7eafab919d5f1ea434a2ebfe8efb119dbffc7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-6-28_1500474762/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -64.60282900751713,
+            -1590.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -67.20090521887045,
+            -1589.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -69.79898143022376,
+            -1587.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -72.39705764157708,
+            -1586.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -74.9951338529304,
+            -1584.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -77.59321006428371,
+            -1583.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -80.19128627563703,
+            -1581.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -82.78936248699034,
+            -1580.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -85.38743869834366,
+            -1578.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -87.98551490969697,
+            -1577.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -90.58359112105029,
+            -1575.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -93.1816673324036,
+            -1574.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -95.77974354375692,
+            -1572.8778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -98.37781975511024,
+            -1571.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -98.37781975511024,
+            -1571.3778540994215,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -99.87781975511024,
+            -1568.779777888068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -101.37781975511024,
+            -1566.1817016767147,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -102.87781975511024,
+            -1563.5836254653614,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -128.0,
+            -1548.0,
+            -262.632
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-8-3_1738110294/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-8-3_1738110294/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a253a60e8f64dc5e825e12d947c5c6e315b85a69
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_14-8-3_1738110294/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            691.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            694.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            697.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            700.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            703.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            706.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            709.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            709.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            709.9952257377433,
+            -1510.6643962970295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            711.4952257377433,
+            -1508.0663200856761,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            712.9952257377433,
+            -1505.4682438743228,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            714.4952257377433,
+            -1502.8701676629694,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            714.4952257377433,
+            -1502.8701676629694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            717.0933019490967,
+            -1501.3701676629694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            719.6913781604501,
+            -1499.8701676629694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            722.2894543718035,
+            -1498.3701676629694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            724.8875305831568,
+            -1496.8701676629694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            727.4856067945102,
+            -1495.3701676629694,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            760.0,
+            -1484.0,
+            -268.846
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-15-19_576994985/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-15-19_576994985/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2914cb34d9592250d63aa39e52199cd19d96f6d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-15-19_576994985/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -530.5537725531277,
+            -1890.3048080848396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -532.0537725531277,
+            -1892.902884296193,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -533.5537725531277,
+            -1895.5009605075463,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -535.0537725531277,
+            -1898.0990367188997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -536.5537725531277,
+            -1900.697112930253,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -538.0537725531277,
+            -1903.2951891416064,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -539.5537725531277,
+            -1905.8932653529598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -541.0537725531277,
+            -1908.4913415643132,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -542.5537725531277,
+            -1911.0894177756666,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -544.0537725531277,
+            -1913.68749398702,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -544.0537725531277,
+            -1913.68749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -546.651848764481,
+            -1915.18749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -549.2499249758343,
+            -1916.68749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -551.8480011871877,
+            -1918.18749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -554.4460773985411,
+            -1919.68749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -557.0441536098945,
+            -1921.18749398702,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -559.6422298212478,
+            -1922.68749398702,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-50_1104561852/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-50_1104561852/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d9f7837ce51ffe4374bdc515479d4bff3cd5ae6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-16-50_1104561852/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1152.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1155.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1158.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1161.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1164.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1167.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1170.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1173.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1176.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1179.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1182.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1185.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1188.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1191.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1194.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1197.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1200.4568244828479,
+            -2082.7787596693393,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1236.0,
+            -2084.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-19-13_386839851/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-19-13_386839851/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79ad5e8dcaf5f1fa8f0843e9c98e3281522f8c56
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-19-13_386839851/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -872.3668577200028,
+            -3074.8748002833017,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -873.8668577200028,
+            -3072.2767240719486,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -875.3668577200028,
+            -3069.6786478605954,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -876.8668577200028,
+            -3067.0805716492423,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -878.3668577200028,
+            -3064.482495437889,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -879.8668577200028,
+            -3061.884419226536,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -881.3668577200028,
+            -3059.286343015183,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -882.8668577200028,
+            -3056.6882668038297,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -884.3668577200028,
+            -3054.0901905924766,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -885.8668577200028,
+            -3051.4921143811234,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -887.3668577200028,
+            -3048.8940381697703,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -888.8668577200028,
+            -3046.295961958417,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -890.3668577200028,
+            -3043.697885747064,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -891.8668577200028,
+            -3041.099809535711,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -893.3668577200028,
+            -3038.5017333243577,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -894.8668577200028,
+            -3035.9036571130046,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -896.3668577200028,
+            -3033.3055809016514,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -897.8668577200028,
+            -3030.7075046902983,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -899.3668577200028,
+            -3028.109428478945,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -900.8668577200028,
+            -3025.511352267592,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -900.8668577200028,
+            -3025.511352267592,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -903.4649339313562,
+            -3024.011352267592,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -906.0630101427096,
+            -3022.511352267592,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -908.661086354063,
+            -3021.011352267592,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -924.0,
+            -2996.0,
+            -257.903
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-25_1688323172/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-25_1688323172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de6abfc76f2c0dc9ae66a0df284324e57ca51d19
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-20-25_1688323172/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            100.54174812179782,
+            -1585.344655573365,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            99.04174812179782,
+            -1582.7465793620115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            97.54174812179782,
+            -1580.1485031506581,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            96.04174812179782,
+            -1577.5504269393048,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            94.54174812179782,
+            -1574.9523507279514,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            93.04174812179782,
+            -1572.354274516598,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            93.04174812179782,
+            -1572.354274516598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            90.44367191044451,
+            -1570.854274516598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            87.84559569909119,
+            -1569.354274516598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            85.24751948773788,
+            -1567.854274516598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            82.64944327638456,
+            -1566.354274516598,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            56.0,
+            -1536.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-16_342146590/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-16_342146590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2c98328b8cb39fea48dc01c9f6bd203d2cde2f41
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-22-16_342146590/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -733.4415072511366,
+            -1835.3812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -736.0395834624899,
+            -1833.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -738.6376596738432,
+            -1832.3812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -741.2357358851966,
+            -1830.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -743.83381209655,
+            -1829.3812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -746.4318883079034,
+            -1827.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -749.0299645192567,
+            -1826.3812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -751.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -751.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -754.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -757.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -760.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -763.6280407306101,
+            -1824.8812454285473,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -1816.0,
+            -248.731
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-23-20_1143195511/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-23-20_1143195511/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..df109aaa9b73fd713594274573dc53c0c47dabb1
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-23-20_1143195511/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            117.3946984859644,
+            -1605.127391718967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            115.8946984859644,
+            -1602.5293155076135,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            114.3946984859644,
+            -1599.9312392962602,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            112.8946984859644,
+            -1597.3331630849068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            111.3946984859644,
+            -1594.7350868735534,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            109.8946984859644,
+            -1592.1370106622,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            108.3946984859644,
+            -1589.5389344508467,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            106.8946984859644,
+            -1586.9408582394933,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            105.3946984859644,
+            -1584.34278202814,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            103.8946984859644,
+            -1581.7447058167866,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            102.3946984859644,
+            -1579.1466296054332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            100.8946984859644,
+            -1576.5485533940798,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            100.8946984859644,
+            -1576.5485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            98.29662227461108,
+            -1575.0485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            95.69854606325777,
+            -1573.5485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            93.10046985190445,
+            -1572.0485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            90.50239364055113,
+            -1570.5485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            87.90431742919782,
+            -1569.0485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            85.3062412178445,
+            -1567.5485533940798,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            82.70816500649119,
+            -1566.0485533940798,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            56.0,
+            -1536.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-24-9_190113083/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-24-9_190113083/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9692127ea32b18ec011caead489a6256d4dcf359
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-24-9_190113083/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            498.9519536807521,
+            -1258.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            498.9519536807521,
+            -1261.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            498.9519536807521,
+            -1264.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            498.9519536807521,
+            -1267.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            498.9519536807521,
+            -1270.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            498.9519536807521,
+            -1273.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            498.9519536807521,
+            -1276.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            498.9519536807521,
+            -1279.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            498.9519536807521,
+            -1282.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            498.9519536807521,
+            -1285.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            498.9519536807521,
+            -1288.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            498.9519536807521,
+            -1291.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            498.9519536807521,
+            -1294.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            498.9519536807521,
+            -1297.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            498.9519536807521,
+            -1297.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            498.9519536807521,
+            -1297.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            501.55002989210544,
+            -1299.0173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            504.14810610345876,
+            -1300.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            504.14810610345876,
+            -1300.5173522158757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            505.64810610345876,
+            -1303.115428427229,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            507.14810610345876,
+            -1305.7135046385824,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-26_1292413412/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-26_1292413412/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4b1c66f15394c959c46761263b524f3acf5e6baf
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-27-26_1292413412/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1005.6414310567336,
+            -2886.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1003.0433548453802,
+            -2888.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1000.4452786340269,
+            -2889.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -997.8472024226735,
+            -2891.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -995.2491262113201,
+            -2892.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -992.6510499999667,
+            -2894.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -990.0529737886134,
+            -2895.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -987.45489757726,
+            -2897.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -984.8568213659066,
+            -2898.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -982.2587451545533,
+            -2900.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -979.6606689431999,
+            -2901.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -977.0625927318465,
+            -2903.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -974.4645165204931,
+            -2904.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -971.8664403091398,
+            -2906.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -969.2683640977864,
+            -2907.793211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -966.670287886433,
+            -2909.293211191028,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -966.670287886433,
+            -2909.293211191028,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -965.170287886433,
+            -2911.8912874023813,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -963.670287886433,
+            -2914.4893636137344,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -962.170287886433,
+            -2917.0874398250876,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -960.670287886433,
+            -2919.6855160364407,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -959.170287886433,
+            -2922.283592247794,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -957.670287886433,
+            -2924.881668459147,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -940.0,
+            -2936.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-3-24_1936060910/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-3-24_1936060910/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6566f3ee7b7086566da2b8ff405db9f676fab10b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-3-24_1936060910/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            922.761899154305,
+            -1174.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            920.1638229429516,
+            -1176.0761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            917.5657467315982,
+            -1177.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            914.9676705202448,
+            -1179.0761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            912.3695943088915,
+            -1180.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            912.3695943088915,
+            -1180.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            909.3695943088915,
+            -1180.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            906.3695943088915,
+            -1180.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            903.3695943088915,
+            -1180.5761153167957,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1192.0,
+            -257.332
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-31-30_192532621/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-31-30_192532621/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5f253736d4c3c288853facbf1a1018f8357e954
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-31-30_192532621/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            65.797505653754,
+            -1284.0164903808734,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            67.297505653754,
+            -1281.41841416952,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            68.797505653754,
+            -1278.8203379581666,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            70.297505653754,
+            -1276.2222617468133,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            71.797505653754,
+            -1273.62418553546,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            73.297505653754,
+            -1271.0261093241065,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            74.797505653754,
+            -1268.4280331127532,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            76.297505653754,
+            -1265.8299569013998,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            77.797505653754,
+            -1263.2318806900464,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            79.297505653754,
+            -1260.633804478693,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            80.797505653754,
+            -1258.0357282673397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            82.297505653754,
+            -1255.4376520559863,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            83.797505653754,
+            -1252.839575844633,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            85.297505653754,
+            -1250.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            85.297505653754,
+            -1250.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            87.89558186510732,
+            -1248.7414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            90.49365807646063,
+            -1247.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            93.09173428781395,
+            -1245.7414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            95.68981049916727,
+            -1244.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            98.28788671052058,
+            -1242.7414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            100.8859629218739,
+            -1241.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            103.48403913322721,
+            -1239.7414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            106.08211534458053,
+            -1238.2414996332795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            108.68019155593385,
+            -1236.7414996332795,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1220.0,
+            -266.751
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-33-23_562395735/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-33-23_562395735/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..295db70502ab1b87a6dda255ae2f456a9f8bbe96
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-33-23_562395735/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1320.0328040946677,
+            -2835.9379800834326,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1318.5328040946677,
+            -2833.3399038720795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1317.0328040946677,
+            -2830.7418276607264,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1315.5328040946677,
+            -2828.143751449373,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1314.0328040946677,
+            -2825.54567523802,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1312.5328040946677,
+            -2822.947599026667,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1311.0328040946677,
+            -2820.349522815314,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1309.5328040946677,
+            -2817.7514466039606,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1308.0328040946677,
+            -2815.1533703926075,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1306.5328040946677,
+            -2812.5552941812543,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1306.5328040946677,
+            -2812.5552941812543,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1303.9347278833143,
+            -2811.0552941812543,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1301.336651671961,
+            -2809.5552941812543,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1298.7385754606075,
+            -2808.0552941812543,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1276.0,
+            -2780.0,
+            -262.796
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-34-39_612353198/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-34-39_612353198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c147992ab7ad1462b621b2bb297f356e9fdcd245
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-34-39_612353198/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -199.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -202.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -205.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -208.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -211.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -214.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -217.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -220.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -223.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -226.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -229.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -232.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -235.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -238.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -241.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -244.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -244.2446942961891,
+            -2306.899546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -246.8427705075424,
+            -2308.399546809908,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -249.44084671889573,
+            -2309.899546809908,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-35-48_1369678468/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-35-48_1369678468/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94ae472e443a45d3ee120af5869ef53ba92cd901
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-35-48_1369678468/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1041.773784769472,
+            -2290.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1041.773784769472,
+            -2287.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1041.773784769472,
+            -2284.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1041.773784769472,
+            -2281.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1041.773784769472,
+            -2278.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1041.773784769472,
+            -2275.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1041.773784769472,
+            -2272.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1041.773784769472,
+            -2269.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1041.773784769472,
+            -2266.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1041.773784769472,
+            -2263.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1041.773784769472,
+            -2260.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1041.773784769472,
+            -2257.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1041.773784769472,
+            -2254.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1041.773784769472,
+            -2251.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1041.773784769472,
+            -2248.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1041.773784769472,
+            -2245.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1041.773784769472,
+            -2242.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1041.773784769472,
+            -2239.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1041.773784769472,
+            -2236.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1041.773784769472,
+            -2233.7605754982164,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-11_318322042/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-11_318322042/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba080665c667ae5dae6d6b0349ad14efd08c3ab8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-11_318322042/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1210.0337826531395,
+            -2255.4163521978458,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1208.5337826531395,
+            -2258.014428409199,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1207.0337826531395,
+            -2260.612504620552,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1205.5337826531395,
+            -2263.210580831905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1204.0337826531395,
+            -2265.8086570432583,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1202.5337826531395,
+            -2268.4067332546115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1201.0337826531395,
+            -2271.0048094659646,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1199.5337826531395,
+            -2273.6028856773178,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1198.0337826531395,
+            -2276.200961888671,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1196.5337826531395,
+            -2278.799038100024,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1195.0337826531395,
+            -2281.397114311377,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1193.5337826531395,
+            -2283.9951905227304,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1193.5337826531395,
+            -2283.9951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1190.9357064417861,
+            -2285.4951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1188.3376302304328,
+            -2286.9951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1185.7395540190794,
+            -2288.4951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1183.141477807726,
+            -2289.9951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1180.5434015963726,
+            -2291.4951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1177.9453253850193,
+            -2292.9951905227304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1175.347249173666,
+            -2294.4951905227304,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1156.0,
+            -2312.0,
+            -213.669
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-40_1451042659/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-40_1451042659/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d978378d82e0e8fc5be553883c4d0a8a0f296dc
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-40-40_1451042659/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            266.36385475518534,
+            -1683.6553362461823,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            264.86385475518534,
+            -1686.2534124575357,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            263.36385475518534,
+            -1688.851488668889,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            261.86385475518534,
+            -1691.4495648802424,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            260.36385475518534,
+            -1694.0476410915958,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.86385475518534,
+            -1696.6457173029492,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            257.36385475518534,
+            -1699.2437935143025,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            255.86385475518534,
+            -1701.841869725656,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            254.36385475518534,
+            -1704.4399459370093,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            252.86385475518534,
+            -1707.0380221483626,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            251.36385475518534,
+            -1709.636098359716,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            249.86385475518534,
+            -1712.2341745710694,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            248.36385475518534,
+            -1714.8322507824228,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            246.86385475518534,
+            -1717.4303269937761,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            245.36385475518534,
+            -1720.0284032051295,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            243.86385475518534,
+            -1722.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            243.86385475518534,
+            -1722.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            243.86385475518534,
+            -1725.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            243.86385475518534,
+            -1728.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            243.86385475518534,
+            -1731.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            243.86385475518534,
+            -1734.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            243.86385475518534,
+            -1737.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            243.86385475518534,
+            -1740.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            243.86385475518534,
+            -1743.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            243.86385475518534,
+            -1746.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            243.86385475518534,
+            -1749.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            243.86385475518534,
+            -1752.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            243.86385475518534,
+            -1755.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            243.86385475518534,
+            -1758.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            243.86385475518534,
+            -1761.6264794164829,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1776.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-46-57_1490549207/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-46-57_1490549207/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9f989408d260d90422b202f3c0f2ee84fb16b46
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-46-57_1490549207/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            451.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            454.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            457.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            460.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            463.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            466.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            469.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            472.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            472.2957375629814,
+            -1353.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            474.8938137743347,
+            -1352.3919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            477.49188998568803,
+            -1350.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            480.08996619704135,
+            -1349.3919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            482.68804240839467,
+            -1347.8919578171433,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            485.286118619748,
+            -1346.3919578171433,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-52-35_28264029/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-52-35_28264029/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b79e73f1685b0d7c6b40cadcef42e15ef9bb9023
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-52-35_28264029/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -263.0404523525481,
+            -2373.0524130985523,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -264.5404523525481,
+            -2370.454336887199,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -266.0404523525481,
+            -2367.856260675846,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -267.5404523525481,
+            -2365.258184464493,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -269.0404523525481,
+            -2362.6601082531397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -270.5404523525481,
+            -2360.0620320417866,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -272.0404523525481,
+            -2357.4639558304334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -273.5404523525481,
+            -2354.8658796190803,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -275.0404523525481,
+            -2352.267803407727,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -276.5404523525481,
+            -2349.669727196374,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -278.0404523525481,
+            -2347.071650985021,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-57_995234140/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-57_995234140/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d60a1a5daca30be17f24dbc3eda6ee3245befaa5
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-55-57_995234140/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            481.10235133332026,
+            -1282.165151592669,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            482.60235133332026,
+            -1284.7632278040223,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            484.10235133332026,
+            -1287.3613040153757,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            485.60235133332026,
+            -1289.959380226729,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            487.10235133332026,
+            -1292.5574564380825,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            488.60235133332026,
+            -1295.1555326494358,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            490.10235133332026,
+            -1297.7536088607892,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            491.60235133332026,
+            -1300.3516850721426,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-59-57_836802671/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-59-57_836802671/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c9a08b19be700c9cb36c6375505639a36a6c53d9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_15-59-57_836802671/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -631.2698651855208,
+            -2264.9676412750086,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -628.2698651855208,
+            -2264.9676412750086,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -628.2698651855208,
+            -2264.9676412750086,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -628.2698651855208,
+            -2264.9676412750086,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -626.7698651855208,
+            -2267.565717486362,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -625.2698651855208,
+            -2270.163793697715,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -623.7698651855208,
+            -2272.761869909068,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -623.7698651855208,
+            -2272.761869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -621.1717889741674,
+            -2274.261869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -618.573712762814,
+            -2275.761869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -615.9756365514606,
+            -2277.261869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -613.3775603401073,
+            -2278.761869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -610.7794841287539,
+            -2280.261869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -608.1814079174005,
+            -2281.761869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -605.5833317060471,
+            -2283.261869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -602.9852554946938,
+            -2284.761869909068,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -600.3871792833404,
+            -2286.261869909068,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-12-37_1835342733/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-12-37_1835342733/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f207609544c155c03407c367c5f5d003e01ee3a7
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-12-37_1835342733/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -355.38869722607365,
+            -2389.6814859754727,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -353.88869722607365,
+            -2387.0834097641196,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -352.38869722607365,
+            -2384.4853335527664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -350.88869722607365,
+            -2381.8872573414133,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -349.38869722607365,
+            -2379.28918113006,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -347.88869722607365,
+            -2376.691104918707,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -346.38869722607365,
+            -2374.093028707354,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -344.88869722607365,
+            -2371.4949524960007,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -343.38869722607365,
+            -2368.8968762846475,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -341.88869722607365,
+            -2366.2988000732944,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -340.38869722607365,
+            -2363.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -340.38869722607365,
+            -2363.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -337.79062101472033,
+            -2362.2007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -335.192544803367,
+            -2360.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -332.5944685920137,
+            -2359.2007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -329.9963923806604,
+            -2357.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -327.39831616930707,
+            -2356.2007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -324.80023995795375,
+            -2354.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -322.20216374660043,
+            -2353.2007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -319.6040875352471,
+            -2351.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -319.6040875352471,
+            -2351.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -319.6040875352471,
+            -2351.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -319.6040875352471,
+            -2348.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -319.6040875352471,
+            -2345.7007238619412,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -296.0,
+            -2316.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-13-46_1521740435/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-13-46_1521740435/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f0d966337f6b738577e16c30ed0175735a92d56
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-13-46_1521740435/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            113.0196558262443,
+            -1748.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            115.61773203759762,
+            -1746.6168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            118.21580824895094,
+            -1745.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            120.81388446030425,
+            -1743.6168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            123.41196067165757,
+            -1742.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            126.01003688301088,
+            -1740.6168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            128.6081130943642,
+            -1739.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            131.20618930571752,
+            -1737.6168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            133.80426551707083,
+            -1736.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            133.80426551707083,
+            -1736.1168186528084,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            135.30426551707083,
+            -1733.518742441455,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            136.80426551707083,
+            -1730.9206662301017,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            138.30426551707083,
+            -1728.3225900187483,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            139.80426551707083,
+            -1725.724513807395,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -1704.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-14-20_100669/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-14-20_100669/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a4c31273bf546960e73c15b246254f8e5d187b6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-14-20_100669/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -987.6808784214074,
+            -3058.362601932797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -986.1808784214074,
+            -3060.9606781441503,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -984.6808784214074,
+            -3063.5587543555034,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -983.1808784214074,
+            -3066.1568305668566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -981.6808784214074,
+            -3068.7549067782097,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -980.1808784214074,
+            -3071.352982989563,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -978.6808784214074,
+            -3073.951059200916,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -977.1808784214074,
+            -3076.549135412269,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -975.6808784214074,
+            -3079.1472116236223,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -974.1808784214074,
+            -3081.7452878349754,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -972.6808784214074,
+            -3084.3433640463286,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -971.1808784214074,
+            -3086.9414402576817,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -969.6808784214074,
+            -3089.539516469035,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -969.6808784214074,
+            -3089.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -969.6808784214074,
+            -3092.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -969.6808784214074,
+            -3095.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -969.6808784214074,
+            -3098.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -969.6808784214074,
+            -3101.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -969.6808784214074,
+            -3104.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -969.6808784214074,
+            -3107.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -969.6808784214074,
+            -3110.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -969.6808784214074,
+            -3113.539516469035,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -969.6808784214074,
+            -3116.539516469035,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-15-31_75245562/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-15-31_75245562/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57cd3e9e91be929878a112bd4566b997f443304e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-15-31_75245562/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -247.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -244.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -241.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -238.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -238.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -238.4792706237386,
+            -1422.7540940658525,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -236.9792706237386,
+            -1425.352170277206,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -235.4792706237386,
+            -1427.9502464885593,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -233.9792706237386,
+            -1430.5483226999127,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -232.4792706237386,
+            -1433.146398911266,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -230.9792706237386,
+            -1435.7444751226194,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -229.4792706237386,
+            -1438.3425513339728,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -227.9792706237386,
+            -1440.9406275453262,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -226.4792706237386,
+            -1443.5387037566795,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -224.9792706237386,
+            -1446.136779968033,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -223.4792706237386,
+            -1448.7348561793863,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -221.9792706237386,
+            -1451.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -221.9792706237386,
+            -1451.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -219.3811944123853,
+            -1452.8329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -216.78311820103198,
+            -1454.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -214.18504198967867,
+            -1455.8329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -211.58696577832535,
+            -1457.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -208.98888956697203,
+            -1458.8329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -206.39081335561872,
+            -1460.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -203.7927371442654,
+            -1461.8329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -201.1946609329121,
+            -1463.3329323907396,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -198.59658472155877,
+            -1464.8329323907396,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1480.0,
+            -276.625
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-46_573666704/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-46_573666704/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..63a88dbd608ef1db78c24638fd563cfe0ca7b009
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-16-46_573666704/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            824.4799686961786,
+            -1519.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            821.8818924848254,
+            -1517.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            819.283816273472,
+            -1516.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            816.6857400621186,
+            -1514.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            814.0876638507652,
+            -1513.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            811.4895876394119,
+            -1511.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            808.8915114280585,
+            -1510.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            806.2934352167051,
+            -1508.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            803.6953590053517,
+            -1507.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            801.0972827939984,
+            -1505.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            798.499206582645,
+            -1504.2546463798744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            795.9011303712916,
+            -1502.7546463798744,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            760.0,
+            -1484.0,
+            -268.846
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-37_172623403/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-37_172623403/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3856df91293ccf2e2434015bc5f6b28cb4760dd
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-37_172623403/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            38.54065364643792,
+            -1751.226610170601,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            40.04065364643792,
+            -1748.6285339592475,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            41.54065364643792,
+            -1746.0304577478942,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            43.04065364643792,
+            -1743.4323815365408,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            44.54065364643792,
+            -1740.8343053251874,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            46.04065364643792,
+            -1738.236229113834,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            47.54065364643792,
+            -1735.6381529024807,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            49.04065364643792,
+            -1733.0400766911273,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            50.54065364643792,
+            -1730.442000479774,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            52.04065364643792,
+            -1727.8439242684206,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            -1696.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-46_1005418816/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-46_1005418816/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..930e0f8fbb85dd33ee92c10aaeed4328a0413e4d
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-17-46_1005418816/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            934.5289765944868,
+            -1272.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            934.5289765944868,
+            -1275.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            934.5289765944868,
+            -1278.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            934.5289765944868,
+            -1281.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            934.5289765944868,
+            -1284.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            934.5289765944868,
+            -1287.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            934.5289765944868,
+            -1290.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            934.5289765944868,
+            -1293.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            934.5289765944868,
+            -1296.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            934.5289765944868,
+            -1299.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            934.5289765944868,
+            -1302.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            934.5289765944868,
+            -1305.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            934.5289765944868,
+            -1308.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            934.5289765944868,
+            -1311.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            934.5289765944868,
+            -1314.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            934.5289765944868,
+            -1317.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            934.5289765944868,
+            -1320.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            934.5289765944868,
+            -1323.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            934.5289765944868,
+            -1326.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            934.5289765944868,
+            -1329.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            934.5289765944868,
+            -1332.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            934.5289765944868,
+            -1335.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            934.5289765944868,
+            -1338.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            934.5289765944868,
+            -1341.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            934.5289765944868,
+            -1344.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            934.5289765944868,
+            -1344.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            934.5289765944868,
+            -1344.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            937.1270528058401,
+            -1346.0697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            939.7251290171935,
+            -1347.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            942.3232052285468,
+            -1349.0697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            944.9212814399002,
+            -1350.5697195880227,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            947.5193576512536,
+            -1352.0697195880227,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-19-24_418646579/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-19-24_418646579/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e7c63d30e62fdbb2891b42a4b2a653b11f2a676
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-19-24_418646579/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -222.8051886744578,
+            -2055.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -222.8051886744578,
+            -2058.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -222.8051886744578,
+            -2061.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -222.8051886744578,
+            -2064.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -222.8051886744578,
+            -2067.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -222.8051886744578,
+            -2070.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -222.8051886744578,
+            -2073.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -222.8051886744578,
+            -2076.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -222.8051886744578,
+            -2079.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -222.8051886744578,
+            -2082.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -222.8051886744578,
+            -2085.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -222.8051886744578,
+            -2088.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -222.8051886744578,
+            -2091.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -222.8051886744578,
+            -2094.069288536559,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -222.8051886744578,
+            -2094.069288536559,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -221.3051886744578,
+            -2096.667364747912,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -219.8051886744578,
+            -2099.265440959265,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -218.3051886744578,
+            -2101.8635171706183,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -216.0,
+            -2120.0,
+            -258.336
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-28-21_1907712995/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-28-21_1907712995/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..33bece3cb2e3814f951a0ee876801b056e63db43
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-28-21_1907712995/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -876.642108043843,
+            -2327.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -879.2401842551963,
+            -2326.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -881.8382604665496,
+            -2324.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -884.436336677903,
+            -2323.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -887.0344128892564,
+            -2321.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -889.6324891006097,
+            -2320.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -892.2305653119631,
+            -2318.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -894.8286415233165,
+            -2317.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -897.4267177346699,
+            -2315.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -900.0247939460232,
+            -2314.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -902.6228701573766,
+            -2312.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -905.22094636873,
+            -2311.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -907.8190225800834,
+            -2309.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -910.4170987914367,
+            -2308.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -913.0151750027901,
+            -2306.7399719371406,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -915.6132512141435,
+            -2305.2399719371406,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -936.0,
+            -2296.0,
+            -273.841
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-29-53_1718264801/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-29-53_1718264801/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7905f86879b4a1339c52f4e66c93c9c15ba187de
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-29-53_1718264801/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1294.587001929255,
+            -2218.8055946459654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1293.087001929255,
+            -2221.4036708573185,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1291.587001929255,
+            -2224.0017470686716,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1290.087001929255,
+            -2226.599823280025,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1288.587001929255,
+            -2229.197899491378,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1287.087001929255,
+            -2231.795975702731,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1285.587001929255,
+            -2234.3940519140842,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1284.087001929255,
+            -2236.9921281254374,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1282.587001929255,
+            -2239.5902043367905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1281.087001929255,
+            -2242.1882805481437,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1279.587001929255,
+            -2244.786356759497,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1278.087001929255,
+            -2247.38443297085,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1276.587001929255,
+            -2249.982509182203,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1275.087001929255,
+            -2252.5805853935562,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1273.587001929255,
+            -2255.1786616049094,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1272.087001929255,
+            -2257.7767378162625,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1270.587001929255,
+            -2260.3748140276157,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1260.0,
+            -2276.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-3-52_1683932587/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-3-52_1683932587/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bbaaf50b1c807d8d4f925642e4ce8ead35a3e469
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-3-52_1683932587/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            995.0640191356986,
+            -2270.3458979656193,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            996.5640191356986,
+            -2267.747821754266,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            998.0640191356986,
+            -2265.149745542913,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            999.5640191356986,
+            -2262.55166933156,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1001.0640191356986,
+            -2259.9535931202067,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1002.5640191356986,
+            -2257.3555169088536,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1004.0640191356986,
+            -2254.7574406975004,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1005.5640191356986,
+            -2252.1593644861473,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1007.0640191356986,
+            -2249.561288274794,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1008.5640191356986,
+            -2246.963212063441,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1010.0640191356986,
+            -2244.365135852088,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1011.5640191356986,
+            -2241.7670596407347,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1013.0640191356986,
+            -2239.1689834293816,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1013.0640191356986,
+            -2239.1689834293816,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1015.662095347052,
+            -2237.6689834293816,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1018.2601715584053,
+            -2236.1689834293816,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1020.8582477697587,
+            -2234.6689834293816,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1023.4563239811121,
+            -2233.1689834293816,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1040.0,
+            -2212.0,
+            -236.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-4-5_298167279/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-4-5_298167279/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5c36a247eefcd807893e8e782ec3f7d3ea7b2d6f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-4-5_298167279/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            971.8135795007089,
+            -1288.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            971.8135795007089,
+            -1291.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            971.8135795007089,
+            -1294.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            971.8135795007089,
+            -1297.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            971.8135795007089,
+            -1300.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            971.8135795007089,
+            -1303.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            971.8135795007089,
+            -1306.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            971.8135795007089,
+            -1309.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            971.8135795007089,
+            -1312.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            971.8135795007089,
+            -1315.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            971.8135795007089,
+            -1318.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            971.8135795007089,
+            -1321.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            971.8135795007089,
+            -1324.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            971.8135795007089,
+            -1324.7892124265045,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            970.3135795007089,
+            -1327.3872886378579,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            968.8135795007089,
+            -1329.9853648492112,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            967.3135795007089,
+            -1332.5834410605646,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            965.8135795007089,
+            -1335.181517271918,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            964.3135795007089,
+            -1337.7795934832714,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            962.8135795007089,
+            -1340.3776696946247,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            961.3135795007089,
+            -1342.975745905978,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            959.8135795007089,
+            -1345.5738221173315,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            958.3135795007089,
+            -1348.1718983286848,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            956.8135795007089,
+            -1350.7699745400382,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-42-39_78417603/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-42-39_78417603/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a2208de2e1fa45afb60aba91f8e5ae141061bb21
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-42-39_78417603/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            542.0501421269314,
+            -1993.4905923544793,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            540.5501421269314,
+            -1990.892516143126,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            539.0501421269314,
+            -1988.2944399317726,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            537.5501421269314,
+            -1985.6963637204192,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            536.0501421269314,
+            -1983.0982875090658,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            534.5501421269314,
+            -1980.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            534.5501421269314,
+            -1980.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            534.5501421269314,
+            -1977.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            534.5501421269314,
+            -1974.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            534.5501421269314,
+            -1971.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            534.5501421269314,
+            -1968.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            534.5501421269314,
+            -1965.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            534.5501421269314,
+            -1962.5002112977124,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            524.0,
+            -1928.0,
+            -280.21
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-32_2025251990/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-32_2025251990/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4ed67e24e72f3a0c6ecdc263106b5e8a0e149b39
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-47-32_2025251990/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            972.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            975.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            978.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            981.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            984.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            987.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            990.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            993.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            996.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            999.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1002.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1005.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1008.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1011.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1014.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1017.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1020.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1023.2233643089501,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1026.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1029.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1032.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1035.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1038.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1041.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1041.22336430895,
+            -1991.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1043.8214405203034,
+            -1993.3026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1046.4195167316568,
+            -1994.8026002381737,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1049.0175929430102,
+            -1996.3026002381737,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1060.0,
+            -1996.0,
+            -262.828
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-48-49_1848096107/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-48-49_1848096107/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4c5a9d741dae91135773cc0734d4476a5ed64f6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-48-49_1848096107/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            453.6969325425371,
+            -1752.0226663427738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            450.6969325425371,
+            -1752.0226663427738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            447.6969325425371,
+            -1752.0226663427738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            444.6969325425371,
+            -1752.0226663427738,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            360.0,
+            -1776.0,
+            -267.209
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-49-55_1170132540/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-49-55_1170132540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6f672236d0913f9a26f86634b9c7ee20f793928
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-49-55_1170132540/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -538.1481298255004,
+            -1855.2109582649205,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -539.6481298255004,
+            -1857.8090344762738,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -541.1481298255004,
+            -1860.4071106876272,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -542.6481298255004,
+            -1863.0051868989806,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -544.1481298255004,
+            -1865.603263110334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -545.6481298255004,
+            -1868.2013393216873,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -547.1481298255004,
+            -1870.7994155330407,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -548.6481298255004,
+            -1873.397491744394,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -550.1481298255004,
+            -1875.9955679557474,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -551.6481298255004,
+            -1878.5936441671008,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -553.1481298255004,
+            -1881.1917203784542,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -554.6481298255004,
+            -1883.7897965898076,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -556.1481298255004,
+            -1886.387872801161,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -557.6481298255004,
+            -1888.9859490125143,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -559.1481298255004,
+            -1891.5840252238677,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -560.6481298255004,
+            -1894.182101435221,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -562.1481298255004,
+            -1896.7801776465744,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -563.6481298255004,
+            -1899.3782538579278,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -565.1481298255004,
+            -1901.9763300692812,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -566.6481298255004,
+            -1904.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -566.6481298255004,
+            -1904.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -566.6481298255004,
+            -1907.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -566.6481298255004,
+            -1910.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -566.6481298255004,
+            -1913.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -566.6481298255004,
+            -1916.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -566.6481298255004,
+            -1919.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -566.6481298255004,
+            -1922.5744062806345,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-54-36_2089816339/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-54-36_2089816339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe283efb8600de94fb60b46cac70b236a4a28b22
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-54-36_2089816339/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            154.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            157.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            160.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            163.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            166.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            169.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            172.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            175.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            178.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            181.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            184.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            187.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            190.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            193.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            196.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            199.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            199.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            199.70621370275808,
+            -1805.5546143455929,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            201.20621370275808,
+            -1802.9565381342395,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            202.70621370275808,
+            -1800.3584619228861,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            204.20621370275808,
+            -1797.7603857115328,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            205.70621370275808,
+            -1795.1623095001794,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            207.20621370275808,
+            -1792.564233288826,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            207.20621370275808,
+            -1792.564233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            209.8042899141114,
+            -1791.064233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            212.4023661254647,
+            -1789.564233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            215.00044233681803,
+            -1788.064233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            217.59851854817134,
+            -1786.564233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            220.19659475952466,
+            -1785.064233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            222.79467097087797,
+            -1783.564233288826,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            225.3927471822313,
+            -1782.064233288826,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1776.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-57-44_838139053/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-57-44_838139053/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8db1d2515251e3b73dcdf6b6a6b71c7b486b468
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-57-44_838139053/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -483.8498748385311,
+            -1790.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -486.4479510498844,
+            -1791.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -489.0460272612377,
+            -1793.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -491.64410347259104,
+            -1794.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -494.24217968394436,
+            -1796.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -496.8402558952977,
+            -1797.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -499.438332106651,
+            -1799.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -502.0364083180043,
+            -1800.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -504.6344845293576,
+            -1802.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -507.23256074071094,
+            -1803.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -509.83063695206425,
+            -1805.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -512.4287131634176,
+            -1806.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -515.0267893747709,
+            -1808.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -517.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -517.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -520.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -523.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -526.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -529.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -532.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -535.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -538.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -538.6248655861243,
+            -1809.8448131517114,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -541.2229417974777,
+            -1811.3448131517114,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1824.0,
+            -273.783
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-9-58_1549495354/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-9-58_1549495354/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1d1e548cc20f4d74abf8f61ca7f6cc6768e46aa6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_16-9-58_1549495354/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            221.48457014676598,
+            -1746.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            218.88649393541266,
+            -1745.0476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            216.28841772405934,
+            -1743.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            213.69034151270603,
+            -1742.0476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            211.0922653013527,
+            -1740.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            208.4941890899994,
+            -1739.0476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            205.89611287864608,
+            -1737.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            203.29803666729276,
+            -1736.0476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            200.69996045593945,
+            -1734.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            198.10188424458613,
+            -1733.0476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            195.50380803323281,
+            -1731.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            195.50380803323281,
+            -1731.5476676305902,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            194.00380803323281,
+            -1728.9495914192369,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            192.50380803323281,
+            -1726.3515152078835,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            -1704.0,
+            -273.842
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-1-46_1623804486/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-1-46_1623804486/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49227268201b51bbbe8f9d74432a629c5928f705
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-1-46_1623804486/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1258.8180690884049,
+            -2309.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1258.8180690884049,
+            -2306.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1258.8180690884049,
+            -2303.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1258.8180690884049,
+            -2300.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1258.8180690884049,
+            -2297.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1258.8180690884049,
+            -2294.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1258.8180690884049,
+            -2291.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1258.8180690884049,
+            -2288.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1258.8180690884049,
+            -2285.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1258.8180690884049,
+            -2282.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1258.8180690884049,
+            -2279.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1258.8180690884049,
+            -2276.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1258.8180690884049,
+            -2273.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1258.8180690884049,
+            -2270.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1258.8180690884049,
+            -2270.8551015846797,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1260.3180690884049,
+            -2268.2570253733265,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1261.8180690884049,
+            -2265.6589491619734,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1263.3180690884049,
+            -2263.0608729506203,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1264.8180690884049,
+            -2260.462796739267,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1266.3180690884049,
+            -2257.864720527914,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1267.8180690884049,
+            -2255.266644316561,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1269.3180690884049,
+            -2252.6685681052077,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1270.8180690884049,
+            -2250.0704918938545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1272.3180690884049,
+            -2247.4724156825014,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023932237
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1276.0,
+            -2224.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-10-2_33713861/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-10-2_33713861/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..adcd649c1d6f2592e80dc433bbb72f0feb085ada
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-10-2_33713861/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -358.21567645029637,
+            -2280.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -355.61760023894306,
+            -2279.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -353.01952402758974,
+            -2277.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -350.4214478162364,
+            -2276.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -347.8233716048831,
+            -2274.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -345.2252953935298,
+            -2273.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -342.6272191821765,
+            -2271.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -340.02914297082316,
+            -2270.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -337.43106675946984,
+            -2268.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -334.8329905481165,
+            -2267.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -332.2349143367632,
+            -2265.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -329.6368381254099,
+            -2264.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -327.0387619140566,
+            -2262.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -324.44068570270326,
+            -2261.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -321.84260949134995,
+            -2259.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -319.24453327999663,
+            -2258.423442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -316.6464570686433,
+            -2256.923442358773,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -316.6464570686433,
+            -2256.923442358773,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -315.1464570686433,
+            -2254.32536614742,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -313.6464570686433,
+            -2251.727289936067,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -312.1464570686433,
+            -2249.1292137247137,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -310.6464570686433,
+            -2246.5311375133606,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -309.1464570686433,
+            -2243.9330613020074,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -307.6464570686433,
+            -2241.3349850906543,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -306.1464570686433,
+            -2238.736908879301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -304.6464570686433,
+            -2236.138832667948,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -303.1464570686433,
+            -2233.540756456595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -301.6464570686433,
+            -2230.9426802452417,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -300.1464570686433,
+            -2228.3446040338886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -298.6464570686433,
+            -2225.7465278225354,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -298.6464570686433,
+            -2225.7465278225354,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -298.6464570686433,
+            -2222.7465278225354,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948681
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -288.0,
+            -2212.0,
+            -270.424
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-12-49_461851014/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-12-49_461851014/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6910443c3c1d7e24c4155288c91dba291027f0bd
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-12-49_461851014/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            97.50825588360172,
+            -1482.558035702808,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            96.00825588360172,
+            -1485.1561119141613,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            94.50825588360172,
+            -1487.7541881255147,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            93.00825588360172,
+            -1490.352264336868,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            91.50825588360172,
+            -1492.9503405482214,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            90.00825588360172,
+            -1495.5484167595748,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            88.50825588360172,
+            -1498.1464929709282,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            88.50825588360172,
+            -1498.1464929709282,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            85.9101796722484,
+            -1499.6464929709282,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            83.31210346089509,
+            -1501.1464929709282,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            80.71402724954177,
+            -1502.6464929709282,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            56.0,
+            -1536.0,
+            -281.7
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-19_1659373349/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-19_1659373349/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c96e1b8014fdb5832b6cb33b44e0199f2a2939f8
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-14-19_1659373349/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -626.1750592326821,
+            -2369.1833132952374,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -624.6750592326821,
+            -2366.5852370838843,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -623.1750592326821,
+            -2363.987160872531,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -621.6750592326821,
+            -2361.389084661178,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -620.1750592326821,
+            -2358.791008449825,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -618.6750592326821,
+            -2356.1929322384717,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -617.1750592326821,
+            -2353.5948560271186,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -615.6750592326821,
+            -2350.9967798157654,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -614.1750592326821,
+            -2348.3987036044123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -612.6750592326821,
+            -2345.800627393059,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -611.1750592326821,
+            -2343.202551181706,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -609.6750592326821,
+            -2340.604474970353,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -608.1750592326821,
+            -2338.0063987589997,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -608.1750592326821,
+            -2338.0063987589997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -605.5769830213287,
+            -2336.5063987589997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -602.9789068099753,
+            -2335.0063987589997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -600.380830598622,
+            -2333.5063987589997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -597.7827543872686,
+            -2332.0063987589997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -595.1846781759152,
+            -2330.5063987589997,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-18-10_1498387409/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-18-10_1498387409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba3d19f51a527700eb353f231ce57bd5c1b8baca
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-18-10_1498387409/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1009.660517382264,
+            -3068.7668289268863,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1008.160517382264,
+            -3071.3649051382395,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1006.660517382264,
+            -3073.9629813495926,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1005.160517382264,
+            -3076.5610575609458,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1003.660517382264,
+            -3079.159133772299,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1002.160517382264,
+            -3081.757209983652,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1000.660517382264,
+            -3084.355286195005,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -999.160517382264,
+            -3086.9533624063583,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -997.660517382264,
+            -3089.5514386177115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -996.160517382264,
+            -3092.1495148290646,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -994.660517382264,
+            -3094.747591040418,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -993.160517382264,
+            -3097.345667251771,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -991.660517382264,
+            -3099.943743463124,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -990.160517382264,
+            -3102.541819674477,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -988.660517382264,
+            -3105.1398958858304,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -987.160517382264,
+            -3107.7379720971835,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -985.660517382264,
+            -3110.3360483085366,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -984.160517382264,
+            -3112.93412451989,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -982.660517382264,
+            -3115.532200731243,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -981.160517382264,
+            -3118.130276942596,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -981.160517382264,
+            -3118.130276942596,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -978.5624411709107,
+            -3119.630276942596,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -975.9643649595573,
+            -3121.130276942596,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -964.0,
+            -3136.0,
+            -205.779
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-19-5_25222833/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-19-5_25222833/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2986906817d3554f2e448e6bc526b51628dec536
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-19-5_25222833/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            322.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            319.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            316.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            313.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            310.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            307.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            304.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            301.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            298.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            298.7985763044744,
+            -1461.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            296.2005000931211,
+            -1460.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            293.6024238817678,
+            -1458.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            291.00434767041446,
+            -1457.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            288.40627145906114,
+            -1455.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            285.80819524770783,
+            -1454.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            283.2101190363545,
+            -1452.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            280.6120428250012,
+            -1451.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            278.0139666136479,
+            -1449.6760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            275.41589040229456,
+            -1448.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            275.41589040229456,
+            -1448.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            272.41589040229456,
+            -1448.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            269.41589040229456,
+            -1448.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            266.41589040229456,
+            -1448.1760976218213,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1440.0,
+            -225.243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-25-59_1933084303/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-25-59_1933084303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57a00056c75b93da8c2742d47216bf746fda489b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-25-59_1933084303/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            39.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            42.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            45.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            48.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            51.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            54.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            57.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            60.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            63.597763879362915,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            66.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            69.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            72.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            75.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            78.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            81.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            84.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            87.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            90.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            93.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            96.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            99.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            102.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            105.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            105.59776387936292,
+            -1215.4830634394664,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            108.19584009071623,
+            -1216.9830634394664,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            124.0,
+            -1220.0,
+            -266.751
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-26-46_1597848432/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-26-46_1597848432/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4bb45375c873996034b126ca9786079babde3057
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-26-46_1597848432/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            725.9560777411348,
+            -1735.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            723.3580015297814,
+            -1737.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            720.759925318428,
+            -1738.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            718.1618491070747,
+            -1740.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            715.5637728957213,
+            -1741.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            712.9656966843679,
+            -1743.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            710.3676204730145,
+            -1744.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            707.7695442616612,
+            -1746.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            705.1714680503078,
+            -1747.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            702.5733918389544,
+            -1749.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            699.975315627601,
+            -1750.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            697.3772394162477,
+            -1752.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            694.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            694.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            691.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            688.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            685.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            682.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            682.7791632048943,
+            -1753.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            680.1810869935409,
+            -1755.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            677.5830107821876,
+            -1756.5868489548595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            674.9849345708342,
+            -1758.0868489548595,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            644.0,
+            -1776.0,
+            -231.938
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-29-11_1336194465/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-29-11_1336194465/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4bbab98dcf75c68b246fe169f2fb8ca5c2689307
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-29-11_1336194465/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -516.5999323558977,
+            -1851.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -519.198008567251,
+            -1853.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -521.7960847786044,
+            -1854.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -524.3941609899578,
+            -1856.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -526.9922372013111,
+            -1857.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -529.5903134126645,
+            -1859.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -532.1883896240179,
+            -1860.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -534.7864658353712,
+            -1862.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -537.3845420467246,
+            -1863.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -539.982618258078,
+            -1865.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -542.5806944694314,
+            -1866.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -545.1787706807847,
+            -1868.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -547.7768468921381,
+            -1869.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -550.3749231034915,
+            -1871.0071091780833,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -552.9729993148449,
+            -1872.5071091780833,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1888.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-35-10_2049197811/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-35-10_2049197811/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5613df437b60208a351c43777b97c9150a7b6f0e
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-35-10_2049197811/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            467.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            470.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            473.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            476.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            479.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            482.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            485.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            485.74639148910444,
+            -1718.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            488.34446770045776,
+            -1717.152306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            490.9425439118111,
+            -1715.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            493.5406201231644,
+            -1714.152306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            496.1386963345177,
+            -1712.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            498.736772545871,
+            -1711.152306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            501.33484875722434,
+            -1709.652306066905,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            503.93292496857765,
+            -1708.152306066905,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            532.0,
+            -1700.0,
+            -276.715
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-41-39_880492499/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-41-39_880492499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..884b8c32540826c6bd2c204101331ce50f737460
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-41-39_880492499/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            923.5820416602471,
+            -1217.6651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            920.9839654488937,
+            -1216.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            918.3858892375404,
+            -1214.6651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            915.787813026187,
+            -1213.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            913.1897368148336,
+            -1211.6651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            910.5916606034802,
+            -1210.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            910.5916606034802,
+            -1210.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            907.5916606034802,
+            -1210.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            904.5916606034802,
+            -1210.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            901.5916606034802,
+            -1210.1651001890332,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1192.0,
+            -257.332
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-42-18_2115115464/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-42-18_2115115464/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b102ec078e1ea992c2272de64afb15cdf435f297
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-42-18_2115115464/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            885.6177882730558,
+            -1435.3423446070954,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            887.1177882730558,
+            -1432.744268395742,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            888.6177882730558,
+            -1430.1461921843886,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            890.1177882730558,
+            -1427.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            890.1177882730558,
+            -1427.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            892.7158644844092,
+            -1426.0481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            895.3139406957625,
+            -1424.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            897.9120169071159,
+            -1423.0481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            900.5100931184693,
+            -1421.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            903.1081693298227,
+            -1420.0481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            905.706245541176,
+            -1418.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            908.3043217525294,
+            -1417.0481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            910.9023979638828,
+            -1415.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            913.5004741752361,
+            -1414.0481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            916.0985503865895,
+            -1412.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            916.0985503865895,
+            -1412.5481159730352,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            917.5985503865895,
+            -1409.9500397616819,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            919.0985503865895,
+            -1407.3519635503285,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            920.5985503865895,
+            -1404.7538873389751,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            922.0985503865895,
+            -1402.1558111276217,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            923.5985503865895,
+            -1399.5577349162684,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            925.0985503865895,
+            -1396.959658704915,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            926.5985503865895,
+            -1394.3615824935616,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            928.0985503865895,
+            -1391.7635062822083,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-34_503458793/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-34_503458793/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..02070c28c03c21b2cbe1a4d0ace99f1882cff323
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-44-34_503458793/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            605.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            602.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            599.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            596.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            593.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            590.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            587.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            584.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            581.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            578.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            575.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            572.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            569.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            566.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            566.9480545403836,
+            -1209.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            564.3499783290304,
+            -1211.4501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            561.751902117677,
+            -1212.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            559.1538259063236,
+            -1214.4501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            556.5557496949702,
+            -1215.9501645387595,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            553.9576734836169,
+            -1217.4501645387595,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            528.0,
+            -1224.0,
+            -203.312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-48-29_1607500335/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-48-29_1607500335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1084f2ce7740778dc201c26116f43f515dc0b2c
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-48-29_1607500335/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -572.8724489320045,
+            -2397.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -572.8724489320045,
+            -2394.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -572.8724489320045,
+            -2391.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -572.8724489320045,
+            -2388.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -572.8724489320045,
+            -2385.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -572.8724489320045,
+            -2382.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -572.8724489320045,
+            -2379.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -572.8724489320045,
+            -2376.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -572.8724489320045,
+            -2373.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -572.8724489320045,
+            -2370.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -572.8724489320045,
+            -2367.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -572.8724489320045,
+            -2364.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -572.8724489320045,
+            -2361.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -572.8724489320045,
+            -2358.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -572.8724489320045,
+            -2355.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -572.8724489320045,
+            -2352.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -572.8724489320045,
+            -2349.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -572.8724489320045,
+            -2346.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -572.8724489320045,
+            -2343.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -572.8724489320045,
+            -2340.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -572.8724489320045,
+            -2337.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -572.8724489320045,
+            -2334.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -572.8724489320045,
+            -2331.8752205881397,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -2300.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-49-30_503615949/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-49-30_503615949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fcdcc1e25121c7a23d7c88baef84e8a865a35cd6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-49-30_503615949/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1298.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1295.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1292.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1289.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1286.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1283.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1280.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1277.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1274.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1271.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1268.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1265.1331610660882,
+            -2079.0516177441177,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1236.0,
+            -2084.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-51-57_936621968/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-51-57_936621968/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1289b96e29630432dbf23bf13d4a2bc8397e4ae0
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-51-57_936621968/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -201.80300478141493,
+            -1641.1650274685032,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -200.30300478141493,
+            -1638.5669512571499,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -198.80300478141493,
+            -1635.9688750457965,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -197.30300478141493,
+            -1633.3707988344431,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -195.80300478141493,
+            -1630.7727226230897,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -194.30300478141493,
+            -1628.1746464117364,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -192.80300478141493,
+            -1625.576570200383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -191.30300478141493,
+            -1622.9784939890296,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -189.80300478141493,
+            -1620.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -189.80300478141493,
+            -1620.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -189.80300478141493,
+            -1617.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -189.80300478141493,
+            -1614.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -189.80300478141493,
+            -1611.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -189.80300478141493,
+            -1608.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -189.80300478141493,
+            -1605.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -189.80300478141493,
+            -1602.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -189.80300478141493,
+            -1599.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -189.80300478141493,
+            -1596.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -189.80300478141493,
+            -1593.3804177776763,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -180.0,
+            -1556.0,
+            -205.885
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-53-19_1322710936/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-53-19_1322710936/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7511043b8bf3b3523faef4dbb9ae0b92eaf07828
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-53-19_1322710936/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1009.4210293993697,
+            -1294.2624540888398,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1007.9210293993697,
+            -1296.8605303001932,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1006.4210293993697,
+            -1299.4586065115466,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1004.9210293993697,
+            -1302.0566827229,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1003.4210293993697,
+            -1304.6547589342533,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1001.9210293993697,
+            -1307.2528351456067,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1000.4210293993697,
+            -1309.85091135696,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            998.9210293993697,
+            -1312.4489875683134,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            997.4210293993697,
+            -1315.0470637796668,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            995.9210293993697,
+            -1317.6451399910202,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            994.4210293993697,
+            -1320.2432162023736,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            992.9210293993697,
+            -1322.841292413727,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            991.4210293993697,
+            -1325.4393686250803,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            989.9210293993697,
+            -1328.0374448364337,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            988.4210293993697,
+            -1330.635521047787,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            986.9210293993697,
+            -1333.2335972591404,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            985.4210293993697,
+            -1335.8316734704938,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            983.9210293993697,
+            -1338.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            983.9210293993697,
+            -1338.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            981.3229531880163,
+            -1339.9297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            978.7248769766629,
+            -1341.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            976.1268007653096,
+            -1342.9297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            973.5287245539562,
+            -1344.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            970.9306483426028,
+            -1345.9297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            968.3325721312494,
+            -1347.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            965.7344959198961,
+            -1348.9297496818472,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            963.1364197085427,
+            -1350.4297496818472,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            -1368.0,
+            -273.983
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-32_192433878/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-32_192433878/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cf0cd71e4d6e96228b23880d638af0d04d9c4be9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-32_192433878/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -633.4647851698667,
+            -1983.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -630.8667089585133,
+            -1982.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -628.2686327471599,
+            -1980.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -625.6705565358066,
+            -1979.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -623.0724803244532,
+            -1977.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -620.4744041130998,
+            -1976.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -617.8763279017464,
+            -1974.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -615.2782516903931,
+            -1973.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -612.6801754790397,
+            -1971.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -610.0820992676863,
+            -1970.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -607.484023056333,
+            -1968.9498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -604.8859468449796,
+            -1967.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -604.8859468449796,
+            -1967.4498249506992,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -603.3859468449796,
+            -1964.8517487393458,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -601.8859468449796,
+            -1962.2536725279924,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -600.3859468449796,
+            -1959.655596316639,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-44_1476492728/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-44_1476492728/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d89bc643ac0e89d4f606222db41ecd2005e0243
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-56-44_1476492728/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -131.43274086321367,
+            -1614.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -131.43274086321367,
+            -1611.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -131.43274086321367,
+            -1608.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -131.43274086321367,
+            -1605.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -131.43274086321367,
+            -1602.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -131.43274086321367,
+            -1599.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -131.43274086321367,
+            -1596.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -131.43274086321367,
+            -1593.7866809043235,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -128.0,
+            -1548.0,
+            -262.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-49_1558581086/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-49_1558581086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ff6692f157707b0991bbbc6ce51e2ed10de54ea
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_17-6-49_1558581086/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1468.4848003489642,
+            -2935.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1465.8867241376108,
+            -2934.3207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1463.2886479262575,
+            -2932.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1460.690571714904,
+            -2931.3207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1458.0924955035507,
+            -2929.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1455.4944192921973,
+            -2928.3207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1452.896343080844,
+            -2926.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1450.2982668694906,
+            -2925.3207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1447.7001906581372,
+            -2923.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1445.1021144467838,
+            -2922.3207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1442.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1442.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1439.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1436.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1433.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1430.5040382354305,
+            -2920.8207112330283,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            -2912.0,
+            -272.679
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-14-27_1386214636/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-14-27_1386214636/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b8ffbccadcb103fa6a490635a0af2b7a509cc915
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-14-27_1386214636/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -752.8634673256159,
+            -1961.4844604426653,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -751.3634673256159,
+            -1958.886384231312,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -749.8634673256159,
+            -1956.2883080199585,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -748.3634673256159,
+            -1953.6902318086052,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -746.8634673256159,
+            -1951.0921555972518,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -745.3634673256159,
+            -1948.4940793858984,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -743.8634673256159,
+            -1945.896003174545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -742.3634673256159,
+            -1943.2979269631917,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -740.8634673256159,
+            -1940.6998507518383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -739.3634673256159,
+            -1938.101774540485,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -737.8634673256159,
+            -1935.5036983291316,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -736.3634673256159,
+            -1932.9056221177782,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -734.8634673256159,
+            -1930.3075459064248,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -733.3634673256159,
+            -1927.7094696950714,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -733.3634673256159,
+            -1927.7094696950714,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -730.7653911142627,
+            -1926.2094696950714,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -728.1673149029093,
+            -1924.7094696950714,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -725.5692386915559,
+            -1923.2094696950714,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-29_1483332973/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-29_1483332973/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00338ffc76d5e31da376dc77458df602ade7d6b5
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-15-29_1483332973/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            827.1306576851911,
+            -1620.371569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            824.5325814738378,
+            -1621.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            821.9345052624844,
+            -1623.371569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            819.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            819.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            816.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            813.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            810.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            807.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            804.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            801.3364290511311,
+            -1624.871569964188,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1636.0,
+            -273.984
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-17-53_688852786/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-17-53_688852786/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7a0e8c1d81c74bbc9f73ba43fa208b509cddaa3
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-17-53_688852786/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            202.5530480413362,
+            -1714.664325813993,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            204.0530480413362,
+            -1717.2624020253463,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            205.5530480413362,
+            -1719.8604782366997,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            207.0530480413362,
+            -1722.458554448053,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            208.5530480413362,
+            -1725.0566306594064,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            210.0530480413362,
+            -1727.6547068707598,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            211.5530480413362,
+            -1730.2527830821132,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            213.0530480413362,
+            -1732.8508592934666,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            214.5530480413362,
+            -1735.44893550482,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            216.0530480413362,
+            -1738.0470117161733,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            217.5530480413362,
+            -1740.6450879275267,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            219.0530480413362,
+            -1743.24316413888,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.5530480413362,
+            -1745.8412403502334,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            222.0530480413362,
+            -1748.4393165615868,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            223.5530480413362,
+            -1751.0373927729402,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            225.0530480413362,
+            -1753.6354689842935,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            226.5530480413362,
+            -1756.233545195647,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            228.0530480413362,
+            -1758.8316214070003,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            229.5530480413362,
+            -1761.4296976183537,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            231.0530480413362,
+            -1764.027773829707,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            240.0,
+            -1776.0,
+            -282.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-18-38_201407458/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-18-38_201407458/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00e95ec5e2599c347fc8228bb4b082da631f56b6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-18-38_201407458/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            575.9420317614711,
+            -1390.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            573.3439555501177,
+            -1389.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            570.7458793387643,
+            -1387.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            568.147803127411,
+            -1386.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            565.5497269160576,
+            -1384.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            562.9516507047042,
+            -1383.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            560.3535744933508,
+            -1381.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            557.7554982819975,
+            -1380.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            555.1574220706441,
+            -1378.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            552.5593458592907,
+            -1377.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            549.9612696479373,
+            -1375.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            547.363193436584,
+            -1374.4875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            544.7651172252306,
+            -1372.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            544.7651172252306,
+            -1372.9875596910078,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            543.2651172252306,
+            -1370.3894834796545,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            541.7651172252306,
+            -1367.791407268301,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            540.2651172252306,
+            -1365.1933310569477,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            512.0,
+            -1340.0,
+            -261.698
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-56_2126362173/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-56_2126362173/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ac6b23b6872a5f0a1e0ef78ef6921677ff9f794
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-2-56_2126362173/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            832.8743996495449,
+            -1467.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            830.2763234381916,
+            -1465.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            827.6782472268383,
+            -1464.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            825.0801710154849,
+            -1462.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            822.4820948041315,
+            -1461.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            819.8840185927781,
+            -1459.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            817.2859423814248,
+            -1458.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            814.6878661700714,
+            -1456.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            812.089789958718,
+            -1455.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            809.4917137473647,
+            -1453.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            806.8936375360113,
+            -1452.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            804.2955613246579,
+            -1450.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            801.6974851133045,
+            -1449.331341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            799.0994089019512,
+            -1447.831341043925,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            796.5013326905978,
+            -1446.331341043925,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            772.0,
+            -1436.0,
+            -285.079
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-27-36_136135018/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-27-36_136135018/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..522a58be68ec127df0b19153fe49bee0af78a4a6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-27-36_136135018/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -672.392314558084,
+            -1812.0868706686447,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -673.892314558084,
+            -1814.684946879998,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -675.392314558084,
+            -1817.2830230913514,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -676.892314558084,
+            -1819.8810993027048,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -678.392314558084,
+            -1822.4791755140582,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -679.892314558084,
+            -1825.0772517254115,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -681.392314558084,
+            -1827.675327936765,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -682.892314558084,
+            -1830.2734041481183,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -684.392314558084,
+            -1832.8714803594717,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -685.892314558084,
+            -1835.469556570825,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -687.392314558084,
+            -1838.0676327821784,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -688.892314558084,
+            -1840.6657089935318,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -690.392314558084,
+            -1843.2637852048852,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -691.892314558084,
+            -1845.8618614162385,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -693.392314558084,
+            -1848.459937627592,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -694.892314558084,
+            -1851.0580138389453,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -696.392314558084,
+            -1853.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -696.392314558084,
+            -1853.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -696.392314558084,
+            -1856.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -696.392314558084,
+            -1859.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -696.392314558084,
+            -1862.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -696.392314558084,
+            -1865.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -696.392314558084,
+            -1868.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -696.392314558084,
+            -1871.6560900502986,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -704.0,
+            -1896.0,
+            -203.555
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-33-10_1782648142/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-33-10_1782648142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..392f62c575b5cc4e59f6d6b5a371d016daf8a7e6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-33-10_1782648142/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -569.8364891470485,
+            -1863.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -569.8364891470485,
+            -1866.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -569.8364891470485,
+            -1869.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -569.8364891470485,
+            -1872.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -569.8364891470485,
+            -1875.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -569.8364891470485,
+            -1878.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -569.8364891470485,
+            -1881.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -569.8364891470485,
+            -1884.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -569.8364891470485,
+            -1887.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -569.8364891470485,
+            -1890.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -569.8364891470485,
+            -1893.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -569.8364891470485,
+            -1896.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -569.8364891470485,
+            -1899.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -569.8364891470485,
+            -1902.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -569.8364891470485,
+            -1905.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -569.8364891470485,
+            -1908.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -569.8364891470485,
+            -1911.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -569.8364891470485,
+            -1914.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -569.8364891470485,
+            -1917.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -569.8364891470485,
+            -1920.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -569.8364891470485,
+            -1923.8464594996515,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -572.0,
+            -1940.0,
+            -282.532
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-37-27_576279545/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-37-27_576279545/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac2fd34e01a587294ecefc4fdb9577e754b7f6a6
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-37-27_576279545/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -755.491864870887,
+            -2257.1282579796734,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -753.991864870887,
+            -2254.5301817683203,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -752.491864870887,
+            -2251.932105556967,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965694
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -752.491864870887,
+            -2251.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982706
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -749.8937886595336,
+            -2250.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -747.2957124481802,
+            -2248.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -744.6976362368268,
+            -2247.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -742.0995600254735,
+            -2245.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -739.5014838141201,
+            -2244.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -736.9034076027667,
+            -2242.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -734.3053313914133,
+            -2241.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -731.70725518006,
+            -2239.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -729.1091789687066,
+            -2238.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -726.5111027573532,
+            -2236.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -723.9130265459999,
+            -2235.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -721.3149503346465,
+            -2233.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -718.7168741232931,
+            -2232.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -716.1187979119397,
+            -2230.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -713.5207217005864,
+            -2229.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -710.922645489233,
+            -2227.932105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -708.3245692778796,
+            -2226.432105556967,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -705.7264930665262,
+            -2224.932105556967,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -680.0,
+            -2208.0,
+            -225.684
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-17_1320634492/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-17_1320634492/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb0713fd99e06d599272f50660a31c51d752a47b
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-39-17_1320634492/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -331.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -328.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -325.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -322.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -319.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -316.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -313.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -310.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -307.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -307.4151278205245,
+            -1468.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -304.8170516091712,
+            -1467.4144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -302.21897539781787,
+            -1465.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -299.62089918646456,
+            -1464.4144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -297.02282297511124,
+            -1462.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -294.4247467637579,
+            -1461.4144863874383,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -291.8266705524046,
+            -1459.9144863874383,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -268.0,
+            -1452.0,
+            -201.911
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-4-0_1768794057/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-4-0_1768794057/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9fc4ee8d3a7a19652301f96a7e86f214cbaf33fb
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-4-0_1768794057/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -882.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -879.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -876.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -873.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -870.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -870.7920885545515,
+            -1854.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -868.1940123431982,
+            -1852.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -865.5959361318448,
+            -1851.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -862.9978599204915,
+            -1849.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -860.3997837091381,
+            -1848.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -857.8017074977847,
+            -1846.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -855.2036312864313,
+            -1845.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -852.605555075078,
+            -1843.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -850.0074788637246,
+            -1842.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -847.4094026523712,
+            -1840.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -844.8113264410179,
+            -1839.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -842.2132502296645,
+            -1837.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -839.6151740183111,
+            -1836.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -837.0170978069577,
+            -1834.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -834.4190215956044,
+            -1833.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -831.820945384251,
+            -1831.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -829.2228691728976,
+            -1830.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -826.6247929615442,
+            -1828.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -824.0267167501909,
+            -1827.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -821.4286405388375,
+            -1825.53960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -818.8305643274841,
+            -1824.03960670257,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -816.2324881161308,
+            -1822.53960670257,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -1816.0,
+            -248.731
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-43-48_1331565220/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-43-48_1331565220/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d70bc49acc1c730af4fed80d8a7b45757e166a9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-43-48_1331565220/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1177.636759048188,
+            -2088.242002144651,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1179.136759048188,
+            -2090.840078356004,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1180.636759048188,
+            -2093.4381545673573,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1182.136759048188,
+            -2096.0362307787104,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1183.636759048188,
+            -2098.6343069900636,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1185.136759048188,
+            -2101.2323832014167,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1186.636759048188,
+            -2103.83045941277,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1188.136759048188,
+            -2106.428535624123,
+            -270.6537207570657
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023932237
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1188.136759048188,
+            -2106.428535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915224
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1190.7348352595413,
+            -2107.928535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1193.3329114708947,
+            -2109.428535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1195.930987682248,
+            -2110.928535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1198.5290638936015,
+            -2112.428535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1201.1271401049548,
+            -2113.928535624123,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1203.7252163163082,
+            -2115.428535624123,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1220.0,
+            -2136.0,
+            -282.85
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-5-37_398068012/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-5-37_398068012/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d41052c9695c36bc731a2e56fab666d6bcbf68f
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-5-37_398068012/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -716.8260018246601,
+            -1840.9604443617209,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -715.3260018246601,
+            -1843.5585205730742,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -713.8260018246601,
+            -1846.1565967844276,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -712.3260018246601,
+            -1848.754672995781,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -710.8260018246601,
+            -1851.3527492071344,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -709.3260018246601,
+            -1853.9508254184877,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -707.8260018246601,
+            -1856.548901629841,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -706.3260018246601,
+            -1859.1469778411945,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -704.8260018246601,
+            -1861.7450540525479,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -703.3260018246601,
+            -1864.3431302639012,
+            -270.6537207570657
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -703.3260018246601,
+            -1864.3431302639012,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -700.7279256133068,
+            -1865.8431302639012,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -698.1298494019534,
+            -1867.3431302639012,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -695.5317731906,
+            -1868.8431302639012,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -692.9336969792466,
+            -1870.3431302639012,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -690.3356207678933,
+            -1871.8431302639012,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -656.0,
+            -1916.0,
+            -213.853
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-6-54_162403134/pose.jsonl b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-6-54_162403134/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f7ada3456fb3c5dc91d5e89865dd49d9fbb9a3b9
--- /dev/null
+++ b/Image/env_airsim_26/astar_data/medium_short/2025-1-9_18-6-54_162403134/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -522.4596314019227,
+            -1854.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -525.0577076132761,
+            -1856.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -527.6557838246295,
+            -1857.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -530.2538600359828,
+            -1859.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -532.8519362473362,
+            -1860.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -535.4500124586896,
+            -1862.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -538.048088670043,
+            -1863.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -540.6461648813963,
+            -1865.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -543.2442410927497,
+            -1866.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -545.8423173041031,
+            -1868.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -548.4403935154564,
+            -1869.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -551.0384697268098,
+            -1871.4283409814566,
+            -270.6537207570657
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -553.6365459381632,
+            -1872.9283409814566,
+            -270.6537207570657
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -576.0,
+            -1888.0,
+            -276.191
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}