diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-15-8_233665123/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-15-8_233665123/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca5bdf55ab385a1d6132796e7e5d0a9c4e98e0f8
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-15-8_233665123/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -960.84520613214,
+            -594.2964362356629,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -962.34520613214,
+            -591.6983600243095,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -963.84520613214,
+            -589.1002838129561,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -965.34520613214,
+            -586.5022076016028,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -966.84520613214,
+            -583.9041313902494,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -968.34520613214,
+            -581.306055178896,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -969.84520613214,
+            -578.7079789675427,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -971.34520613214,
+            -576.1099027561893,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -972.84520613214,
+            -573.5118265448359,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -974.34520613214,
+            -570.9137503334825,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -975.84520613214,
+            -568.3156741221292,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -977.34520613214,
+            -565.7175979107758,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -978.84520613214,
+            -563.1195216994224,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -980.34520613214,
+            -560.521445488069,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -981.84520613214,
+            -557.9233692767157,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -983.34520613214,
+            -555.3252930653623,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -983.34520613214,
+            -555.3252930653623,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -983.34520613214,
+            -552.3252930653623,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -983.34520613214,
+            -549.3252930653623,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -983.34520613214,
+            -546.3252930653623,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -983.34520613214,
+            -543.3252930653623,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-24-25_1632621729/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-24-25_1632621729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aca9e46ebb04f327f516eee15f39dd4aa64dfd1a
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-24-25_1632621729/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -863.616791076689,
+            -489.0036103011765,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -865.116791076689,
+            -491.6016865125298,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -866.616791076689,
+            -494.1997627238831,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -868.116791076689,
+            -496.7978389352364,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -869.616791076689,
+            -499.39591514658974,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -871.116791076689,
+            -501.99399135794306,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -872.616791076689,
+            -504.5920675692964,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -874.116791076689,
+            -507.1901437806497,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -874.116791076689,
+            -507.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -874.116791076689,
+            -510.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -874.116791076689,
+            -513.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -874.116791076689,
+            -516.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -874.116791076689,
+            -519.1901437806497,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -874.116791076689,
+            -519.1901437806497,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -874.116791076689,
+            -519.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -876.7148672880423,
+            -520.6901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -879.3129434993957,
+            -522.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -881.9110197107491,
+            -523.6901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -884.5090959221025,
+            -525.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -887.1071721334558,
+            -526.6901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -889.7052483448092,
+            -528.1901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -892.3033245561626,
+            -529.6901437806497,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -894.901400767516,
+            -531.1901437806497,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-26-14_1548233367/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-26-14_1548233367/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..194c669e4c7e98a44473f187282efbed5fe9d7e5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-26-14_1548233367/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -757.7845987388272,
+            -448.8574201221722,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -759.2845987388272,
+            -446.25934391081887,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -760.7845987388272,
+            -443.66126769946555,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -762.2845987388272,
+            -441.06319148811224,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -763.7845987388272,
+            -438.4651152767589,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -765.2845987388272,
+            -435.8670390654056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -766.7845987388272,
+            -433.2689628540523,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -768.2845987388272,
+            -430.670886642699,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -769.7845987388272,
+            -428.07281043134566,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -771.2845987388272,
+            -425.47473421999234,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -772.7845987388272,
+            -422.876658008639,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -774.2845987388272,
+            -420.2785817972857,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -775.7845987388272,
+            -417.6805055859324,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -777.2845987388272,
+            -415.0824293745791,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -778.7845987388272,
+            -412.48435316322576,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -780.2845987388272,
+            -409.88627695187245,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -781.7845987388272,
+            -407.28820074051913,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -783.2845987388272,
+            -404.6901245291658,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -784.7845987388272,
+            -402.0920483178125,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -786.2845987388272,
+            -399.4939721064592,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -786.2845987388272,
+            -399.4939721064592,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -786.2845987388272,
+            -396.4939721064592,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -786.2845987388272,
+            -393.4939721064592,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-27-44_945117276/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-27-44_945117276/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..310132c60d4814a96512b20878a419ee57db62d3
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-27-44_945117276/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -788.2081145026051,
+            -485.9992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -790.8061907139584,
+            -487.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -793.4042669253117,
+            -488.9992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -796.0023431366651,
+            -490.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -798.6004193480185,
+            -491.9992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -801.1984955593718,
+            -493.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -803.7965717707252,
+            -494.9992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -806.3946479820786,
+            -496.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -808.992724193432,
+            -497.9992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -811.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -811.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -814.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -817.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -820.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -823.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -826.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -829.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -832.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -835.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -838.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -841.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -844.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -847.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -850.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -853.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -853.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -853.5908004047853,
+            -499.4992654754829,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -855.0908004047853,
+            -502.0973416868362,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -856.5908004047853,
+            -504.69541789818953,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -858.0908004047853,
+            -507.29349410954285,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -872.0,
+            -512.0,
+            73.4077
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-28-17_1780695788/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-28-17_1780695788/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9412331c9257f02f172dc89431c7ce4a383add22
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-28-17_1780695788/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -956.04660710032,
+            -443.01935784868795,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -957.54660710032,
+            -445.61743406004126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -959.04660710032,
+            -448.2155102713946,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -960.54660710032,
+            -450.8135864827479,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -962.04660710032,
+            -453.4116626941012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -963.54660710032,
+            -456.0097389054545,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -965.04660710032,
+            -458.60781511680784,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -966.54660710032,
+            -461.20589132816116,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -968.04660710032,
+            -463.8039675395145,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -969.54660710032,
+            -466.4020437508678,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -971.04660710032,
+            -469.0001199622211,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -972.54660710032,
+            -471.5981961735744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -974.04660710032,
+            -474.19627238492774,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -975.54660710032,
+            -476.79434859628105,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -977.04660710032,
+            -479.39242480763437,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -978.54660710032,
+            -481.9905010189877,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -980.04660710032,
+            -484.588577230341,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -981.54660710032,
+            -487.1866534416943,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -983.04660710032,
+            -489.78472965304763,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -984.54660710032,
+            -492.38280586440095,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-37-40_1469834481/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-37-40_1469834481/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6166351f21ee9371d1cbfc84f3ce64665b76bcd0
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-37-40_1469834481/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -990.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -987.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -984.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -981.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -978.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -975.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -972.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -969.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -966.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -963.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -960.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -957.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -957.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -957.0203717392997,
+            -310.72952481530535,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -955.5203717392997,
+            -308.13144860395204,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -954.0203717392997,
+            -305.5333723925987,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -952.5203717392997,
+            -302.9352961812454,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -952.5203717392997,
+            -302.9352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -949.9222955279463,
+            -301.4352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -947.3242193165929,
+            -299.9352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -944.7261431052395,
+            -298.4352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -942.1280668938862,
+            -296.9352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -939.5299906825328,
+            -295.4352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -936.9319144711794,
+            -293.9352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -934.333838259826,
+            -292.4352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -931.7357620484727,
+            -290.9352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -929.1376858371193,
+            -289.4352961812454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -926.5396096257659,
+            -287.9352961812454,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -280.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-38-53_498777856/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-38-53_498777856/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..56e0bcc4b44e9be239bd9b7800b06d0f208a0af1
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-38-53_498777856/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -853.8911537974152,
+            -311.17738020288147,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -852.3911537974152,
+            -313.7754564142348,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -850.8911537974152,
+            -316.3735326255881,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -849.3911537974152,
+            -318.9716088369414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -847.8911537974152,
+            -321.56968504829473,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -846.3911537974152,
+            -324.16776125964805,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -844.8911537974152,
+            -326.76583747100136,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -843.3911537974152,
+            -329.3639136823547,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -841.8911537974152,
+            -331.961989893708,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -840.3911537974152,
+            -334.5600661050613,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -838.8911537974152,
+            -337.1581423164146,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -837.3911537974152,
+            -339.75621852776794,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -835.8911537974152,
+            -342.35429473912126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -834.3911537974152,
+            -344.9523709504746,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -832.8911537974152,
+            -347.5504471618279,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -831.3911537974152,
+            -350.1485233731812,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -829.8911537974152,
+            -352.7465995845345,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -828.3911537974152,
+            -355.34467579588784,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -826.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -826.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -826.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -823.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -820.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -817.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -814.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -811.8911537974152,
+            -357.94275200724115,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-40-46_1600028624/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-40-46_1600028624/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5817471ace5c1f0f9b8d0c1cdb69be0560afeb6b
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-40-46_1600028624/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            56.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            59.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            62.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            65.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            68.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            71.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            74.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            77.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            80.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            80.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            80.89049332801214,
+            -267.28913770778786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            82.39049332801214,
+            -264.69106149643454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            83.89049332801214,
+            -262.0929852850812,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            85.39049332801214,
+            -259.4949090737279,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            86.89049332801214,
+            -256.8968328623746,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            86.89049332801214,
+            -256.8968328623746,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            89.48856953936546,
+            -255.3968328623746,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            92.08664575071877,
+            -253.8968328623746,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -240.0,
+            115.81
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-43-40_1631518149/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-43-40_1631518149/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38fcdf7d2b6bca3029a0b1ef2450b4f0012c600c
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-43-40_1631518149/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -854.0195768985315,
+            -431.7723672029777,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -852.5195768985315,
+            -429.1742909916244,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -851.0195768985315,
+            -426.5762147802711,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -849.5195768985315,
+            -423.97813856891776,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -848.0195768985315,
+            -421.38006235756444,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -846.5195768985315,
+            -418.7819861462111,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -845.0195768985315,
+            -416.1839099348578,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -843.5195768985315,
+            -413.5858337235045,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -842.0195768985315,
+            -410.9877575121512,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -840.5195768985315,
+            -408.38968130079786,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -839.0195768985315,
+            -405.79160508944454,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -837.5195768985315,
+            -403.19352887809123,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -837.5195768985315,
+            -403.19352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -834.9215006871782,
+            -401.69352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -832.3234244758248,
+            -400.19352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -829.7253482644714,
+            -398.69352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -827.1272720531181,
+            -397.19352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -824.5291958417647,
+            -395.69352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -821.9311196304113,
+            -394.19352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -819.333043419058,
+            -392.69352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -816.7349672077046,
+            -391.19352887809123,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -814.1368909963512,
+            -389.69352887809123,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-54-41_2103318776/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-54-41_2103318776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aef1cce707efeef90ba5583b2504f484d7a073be
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_16-54-41_2103318776/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -829.5328323184201,
+            -595.5998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -832.1309085297735,
+            -594.0998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -834.7289847411269,
+            -592.5998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -837.3270609524802,
+            -591.0998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -839.9251371638336,
+            -589.5998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -842.523213375187,
+            -588.0998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -845.1212895865403,
+            -586.5998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -847.7193657978937,
+            -585.0998566864712,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -850.3174420092471,
+            -583.5998566864712,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-13-0_2113903881/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-13-0_2113903881/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d70ed2b9aa5080b4953b805560cb001828adba3
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-13-0_2113903881/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -887.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -884.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -881.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -878.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -875.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -872.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -869.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -866.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -863.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -860.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -857.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -854.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -851.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -848.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -845.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -842.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -842.5985907600251,
+            -395.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -840.0005145486718,
+            -393.943899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -837.4024383373185,
+            -392.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -834.8043621259651,
+            -390.943899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -832.2062859146117,
+            -389.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -829.6082097032584,
+            -387.943899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -827.010133491905,
+            -386.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -824.4120572805516,
+            -384.943899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -821.8139810691982,
+            -383.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -819.2159048578449,
+            -381.943899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -816.6178286464915,
+            -380.443899845135,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -814.0197524351381,
+            -378.943899845135,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-16-4_2025187190/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-16-4_2025187190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0841896293cbac94e9f1ce09dde76961b5cdca9d
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-16-4_2025187190/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -871.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -868.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -865.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -862.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -859.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -856.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -853.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -850.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -847.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -844.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -841.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -838.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -835.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -832.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -829.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -826.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -823.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -823.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -823.326678064295,
+            -355.9580094756019,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -821.826678064295,
+            -358.5560856869552,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -820.326678064295,
+            -361.15416189830853,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -818.826678064295,
+            -363.75223810966185,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -818.826678064295,
+            -363.75223810966185,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -816.2286018529417,
+            -365.25223810966185,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -813.6305256415883,
+            -366.75223810966185,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-20-27_625032172/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-20-27_625032172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f71602d101979703455cdd9d3eb70894f0f0e0c
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-20-27_625032172/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -872.4054580234797,
+            -493.1381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -875.0035342348331,
+            -494.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -877.6016104461864,
+            -496.1381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -880.1996866575398,
+            -497.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -882.7977628688932,
+            -499.1381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -885.3958390802466,
+            -500.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -887.9939152915999,
+            -502.1381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -890.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -890.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -893.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -893.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -893.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -893.5919915029533,
+            -503.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.71238898038469
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -893.5919915029533,
+            -506.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -893.5919915029533,
+            -509.6381909472713,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -893.5919915029533,
+            -512.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -893.5919915029533,
+            -515.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -893.5919915029533,
+            -518.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -893.5919915029533,
+            -521.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -893.5919915029533,
+            -524.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -893.5919915029533,
+            -527.6381909472714,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -893.5919915029533,
+            -527.6381909472714,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -893.5919915029533,
+            -527.6381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -896.1900677143067,
+            -529.1381909472714,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -898.78814392566,
+            -530.6381909472714,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-22-10_1799878206/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-22-10_1799878206/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cfcbf65056c2a48b84877153de29c5a6350cdedd
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-22-10_1799878206/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -836.366451652787,
+            -480.5607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -838.9645278641403,
+            -482.0607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -841.5626040754937,
+            -483.5607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -844.1606802868471,
+            -485.0607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -846.7587564982005,
+            -486.5607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -849.3568327095538,
+            -488.0607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -851.9549089209072,
+            -489.5607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -854.5529851322606,
+            -491.0607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -857.151061343614,
+            -492.5607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -859.7491375549673,
+            -494.0607059724925,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -859.7491375549673,
+            -494.0607059724925,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -861.2491375549673,
+            -496.6587821838458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -862.7491375549673,
+            -499.2568583951991,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -864.2491375549673,
+            -501.85493460655243,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -865.7491375549673,
+            -504.45301081790575,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -867.2491375549673,
+            -507.05108702925907,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -868.7491375549673,
+            -509.6491632406124,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -870.2491375549673,
+            -512.2472394519657,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -871.7491375549673,
+            -514.8453156633191,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -873.2491375549673,
+            -517.4433918746724,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -874.7491375549673,
+            -520.0414680860258,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -876.2491375549673,
+            -522.6395442973792,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -876.2491375549673,
+            -522.6395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -878.8472137663207,
+            -524.1395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -881.4452899776741,
+            -525.6395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -884.0433661890274,
+            -527.1395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -886.6414424003808,
+            -528.6395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -889.2395186117342,
+            -530.1395442973792,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -891.8375948230876,
+            -531.6395442973792,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-23-6_1070575321/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-23-6_1070575321/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f8b6dfa681db08604b03be16288ee5ef5fad248
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-23-6_1070575321/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1084.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1081.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1078.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1075.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1072.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1069.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1066.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1063.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1060.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1057.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1054.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1051.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1048.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1045.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1042.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1039.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1036.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1033.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1030.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1027.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1024.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1021.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1018.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1015.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1012.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1009.4993148050748,
+            -107.97926342675254,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-29-44_1414647625/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-29-44_1414647625/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6ae30bb641379de0d612c0c44ce6ae2155f9dfa
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-29-44_1414647625/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -939.387968886907,
+            -494.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -941.9860450982603,
+            -495.92174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -944.5841213096137,
+            -497.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -947.1821975209671,
+            -498.92174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -949.7802737323204,
+            -500.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -952.3783499436738,
+            -501.92174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -954.9764261550272,
+            -503.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -957.5745023663806,
+            -504.92174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -960.1725785777339,
+            -506.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -962.7706547890873,
+            -507.92174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -965.3687310004407,
+            -509.42174712792627,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -965.3687310004407,
+            -509.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -968.3687310004407,
+            -509.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -971.3687310004407,
+            -509.42174712792627,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -974.3687310004407,
+            -509.42174712792627,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-32-47_1566288819/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-32-47_1566288819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43025be16242676709df4775a8205da8b73682d6
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-32-47_1566288819/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            44.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            47.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            50.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            53.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            56.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            59.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            62.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            65.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            68.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            71.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            71.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            71.63061730824246,
+            -285.2531201164255,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            73.13061730824246,
+            -282.6550439050722,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            74.63061730824246,
+            -280.0569676937189,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            76.13061730824246,
+            -277.4588914823656,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            77.63061730824246,
+            -274.86081527101226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            79.13061730824246,
+            -272.26273905965894,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            80.63061730824246,
+            -269.6646628483056,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            80.63061730824246,
+            -269.6646628483056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            83.22869351959578,
+            -268.1646628483056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            85.8267697309491,
+            -266.6646628483056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            88.42484594230241,
+            -265.1646628483056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            91.02292215365573,
+            -263.6646628483056,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            93.62099836500904,
+            -262.1646628483056,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -240.0,
+            115.81
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-43-10_1309383303/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-43-10_1309383303/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afd42245ed61dfb1a322a7101d492f9c97a9e57f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-43-10_1309383303/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -856.2065131966189,
+            -172.7115112232975,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -857.7065131966189,
+            -170.11343501194418,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -859.2065131966189,
+            -167.51535880059086,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -860.7065131966189,
+            -164.91728258923754,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -862.2065131966189,
+            -162.31920637788423,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -863.7065131966189,
+            -159.7211301665309,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -865.2065131966189,
+            -157.1230539551776,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -866.7065131966189,
+            -154.52497774382428,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -868.2065131966189,
+            -151.92690153247096,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -869.7065131966189,
+            -149.32882532111765,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -871.2065131966189,
+            -146.73074910976433,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -872.7065131966189,
+            -144.13267289841102,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -874.2065131966189,
+            -141.5345966870577,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -875.7065131966189,
+            -138.93652047570438,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -877.2065131966189,
+            -136.33844426435107,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -878.7065131966189,
+            -133.74036805299775,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -880.2065131966189,
+            -131.14229184164444,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -881.7065131966189,
+            -128.54421563029112,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -881.7065131966189,
+            -128.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -881.7065131966189,
+            -125.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -881.7065131966189,
+            -122.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -881.7065131966189,
+            -119.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -881.7065131966189,
+            -116.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -881.7065131966189,
+            -113.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -881.7065131966189,
+            -110.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -881.7065131966189,
+            -107.54421563029112,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -881.7065131966189,
+            -104.54421563029112,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -80.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-46-42_767066249/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-46-42_767066249/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36470b1f15ae7c57498d026302581e06f6d75a96
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-46-42_767066249/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -955.6959652301317,
+            -159.85279989452744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -957.1959652301317,
+            -157.25472368317412,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -958.6959652301317,
+            -154.6566474718208,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -960.1959652301317,
+            -152.0585712604675,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -961.6959652301317,
+            -149.46049504911417,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -963.1959652301317,
+            -146.86241883776086,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -963.1959652301317,
+            -146.86241883776086,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -965.794041441485,
+            -145.36241883776086,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -968.3921176528384,
+            -143.86241883776086,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-47-13_1750003033/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-47-13_1750003033/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..993b49fd6ccbc763316a1719c4fbc5c1b60a9bcf
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-47-13_1750003033/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            92.12653626969244,
+            -47.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            89.52846005833912,
+            -49.250538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            86.9303838469858,
+            -50.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            84.33230763563249,
+            -52.250538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            81.73423142427917,
+            -53.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            79.13615521292586,
+            -55.250538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            76.53807900157254,
+            -56.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            73.94000279021922,
+            -58.250538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            71.34192657886591,
+            -59.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            68.7438503675126,
+            -61.250538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            66.14577415615928,
+            -62.750538211971744,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            63.54769794480596,
+            -64.25053821197174,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            60.949621733452645,
+            -65.75053821197174,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            -84.0,
+            79.2117
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-49-5_474613996/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-49-5_474613996/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7bc066d6d51b9fe42c18801a19095f4ffb32ebcb
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-49-5_474613996/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -57.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -54.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -51.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -48.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -45.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -42.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -39.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -36.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -33.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -30.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -27.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -24.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -21.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -18.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -15.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -12.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -9.0957839255136,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -6.095783925513601,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -3.095783925513601,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -0.09578392551360082,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -0.09578392551360082,
+            -95.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            2.502292285839715,
+            -93.71521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            5.100368497193031,
+            -92.21521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            7.698444708546347,
+            -90.71521763007436,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            10.296520919899663,
+            -89.21521763007436,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            -84.0,
+            79.2117
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-5-2_392035568/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-5-2_392035568/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f9b88075dca27d26db297802ad3fe97c723c8198
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-5-2_392035568/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -689.9076422759368,
+            -297.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -692.5057184872901,
+            -296.23573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -695.1037946986435,
+            -294.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -697.7018709099968,
+            -293.23573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -700.2999471213502,
+            -291.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -702.8980233327036,
+            -290.23573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -705.496099544057,
+            -288.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -708.0941757554103,
+            -287.23573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -710.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -710.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -713.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -716.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -719.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -722.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -725.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -728.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -731.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -734.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -737.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -740.6922519667637,
+            -285.73573763498734,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -280.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-53-13_820697697/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-53-13_820697697/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4396343cf7109c904e88d536e20c1743911e2eaf
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-53-13_820697697/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -929.3632768749186,
+            -560.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -931.9613530862719,
+            -559.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -934.5594292976252,
+            -557.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -937.1575055089786,
+            -556.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -939.755581720332,
+            -554.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -942.3536579316853,
+            -553.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -944.9517341430387,
+            -551.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -947.5498103543921,
+            -550.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -950.1478865657455,
+            -548.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -952.7459627770988,
+            -547.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -955.3440389884522,
+            -545.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -957.9421151998056,
+            -544.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -960.540191411159,
+            -542.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -963.1382676225123,
+            -541.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -965.7363438338657,
+            -539.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -968.3344200452191,
+            -538.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -970.9324962565724,
+            -536.5162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -973.5305724679258,
+            -535.0162306832617,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -976.1286486792792,
+            -533.5162306832617,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-57-11_860516127/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-57-11_860516127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f8ea88e94211f042e5831691008096d009208a8
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_17-57-11_860516127/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -830.8628577161443,
+            -484.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -833.4609339274975,
+            -485.7615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -836.0590101388509,
+            -487.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -838.6570863502043,
+            -488.7615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -841.2551625615577,
+            -490.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -843.853238772911,
+            -491.7615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -846.4513149842644,
+            -493.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -849.0493911956178,
+            -494.7615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -851.6474674069711,
+            -496.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -854.2455436183245,
+            -497.7615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -856.8436198296779,
+            -499.2615150501033,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -856.8436198296779,
+            -499.2615150501033,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -858.3436198296779,
+            -501.8595912614566,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -859.8436198296779,
+            -504.45766747280993,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -861.3436198296779,
+            -507.05574368416325,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -862.8436198296779,
+            -509.65381989551656,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -864.3436198296779,
+            -512.2518961068699,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -865.8436198296779,
+            -514.8499723182233,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -865.8436198296779,
+            -514.8499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -868.4416960410313,
+            -516.3499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -871.0397722523846,
+            -517.8499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -873.637848463738,
+            -519.3499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -876.2359246750914,
+            -520.8499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -878.8340008864448,
+            -522.3499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -881.4320770977981,
+            -523.8499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -884.0301533091515,
+            -525.3499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -886.6282295205049,
+            -526.8499723182233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -889.2263057318582,
+            -528.3499723182233,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-28-42_1190668363/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-28-42_1190668363/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca9724bdf8ffa421720fcfe9f37fa06980f5fbb1
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-28-42_1190668363/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -903.8180639807427,
+            -481.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -903.8180639807427,
+            -484.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -903.8180639807427,
+            -487.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -903.8180639807427,
+            -490.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -903.8180639807427,
+            -493.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -903.8180639807427,
+            -496.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -903.8180639807427,
+            -499.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -903.8180639807427,
+            -502.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -903.8180639807427,
+            -505.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -903.8180639807427,
+            -508.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -903.8180639807427,
+            -511.02448193001254,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -903.8180639807427,
+            -514.0244819300126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -903.8180639807427,
+            -517.0244819300126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -903.8180639807427,
+            -520.0244819300126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -903.8180639807427,
+            -523.0244819300126,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -903.8180639807427,
+            -523.0244819300126,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -905.3180639807427,
+            -525.622558141366,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -906.8180639807427,
+            -528.2206343527193,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-32-21_1280631491/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-32-21_1280631491/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce381073dca136cd6cc3a563a07c6f2a69169654
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-32-21_1280631491/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -680.3618706605901,
+            -315.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -682.9599468719434,
+            -314.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -685.5580230832968,
+            -312.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -688.1560992946502,
+            -311.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -690.7541755060035,
+            -309.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -693.3522517173569,
+            -308.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -695.9503279287103,
+            -306.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -698.5484041400637,
+            -305.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -701.146480351417,
+            -303.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -703.7445565627704,
+            -302.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -706.3426327741238,
+            -300.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -708.9407089854772,
+            -299.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -711.5387851968305,
+            -297.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -714.1368614081839,
+            -296.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -716.7349376195373,
+            -294.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -719.3330138308906,
+            -293.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -721.931090042244,
+            -291.9666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -724.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -724.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -727.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -730.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -733.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -736.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -736.5291662535974,
+            -290.4666680624226,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -739.1272424649508,
+            -288.9666680624226,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -280.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-4-32_1450956042/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-4-32_1450956042/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..469072e1707c3d2229dd409dc06ff82297f3546f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-4-32_1450956042/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -903.367908310246,
+            -459.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -903.367908310246,
+            -462.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -903.367908310246,
+            -465.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -903.367908310246,
+            -468.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -903.367908310246,
+            -471.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -903.367908310246,
+            -474.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -903.367908310246,
+            -477.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -903.367908310246,
+            -480.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -903.367908310246,
+            -483.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -903.367908310246,
+            -486.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -903.367908310246,
+            -489.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -903.367908310246,
+            -492.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -903.367908310246,
+            -495.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -903.367908310246,
+            -498.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -903.367908310246,
+            -501.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -903.367908310246,
+            -504.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -903.367908310246,
+            -507.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -903.367908310246,
+            -510.26427148287945,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -903.367908310246,
+            -513.2642714828794,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -903.367908310246,
+            -516.2642714828794,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -903.367908310246,
+            -519.2642714828794,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -903.367908310246,
+            -519.2642714828794,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -904.867908310246,
+            -521.8623476942328,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -906.367908310246,
+            -524.4604239055861,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -907.867908310246,
+            -527.0585001169395,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-49-34_1646478179/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-49-34_1646478179/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70b7728c74bb5ee0b8093255d588911669e22787
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-49-34_1646478179/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -990.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -987.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -984.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -981.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -978.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -975.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -972.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -972.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -972.3082587729654,
+            -582.1129879905693,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -970.8082587729654,
+            -579.5149117792159,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -969.3082587729654,
+            -576.9168355678626,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -969.3082587729654,
+            -576.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -966.7101825616121,
+            -575.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -964.1121063502587,
+            -573.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -961.5140301389054,
+            -572.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -958.915953927552,
+            -570.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -956.3178777161986,
+            -569.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -953.7198015048452,
+            -567.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -951.1217252934919,
+            -566.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -948.5236490821385,
+            -564.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -945.9255728707851,
+            -563.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -943.3274966594317,
+            -561.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -940.7294204480784,
+            -560.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -938.131344236725,
+            -558.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -935.5332680253716,
+            -557.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -932.9351918140183,
+            -555.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -930.3371156026649,
+            -554.4168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -927.7390393913115,
+            -552.9168355678626,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -925.1409631799581,
+            -551.4168355678626,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-57-8_483689685/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-57-8_483689685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..912067c8d38aac0c63b2624e4947fac510f257ba
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-57-8_483689685/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -952.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -949.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -946.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -943.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -940.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -940.2037304956043,
+            -61.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -937.6056542842509,
+            -62.78253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -935.0075780728976,
+            -64.28253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -932.4095018615442,
+            -65.78253326346581,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -929.8114256501908,
+            -67.28253326346581,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -80.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-58-53_1122336503/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-58-53_1122336503/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b719599b7992ec2761a7b84f5b99f25bcc541ab4
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_18-58-53_1122336503/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -934.5090770099271,
+            -121.88590669840941,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -931.5090770099271,
+            -121.88590669840941,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -928.5090770099271,
+            -121.88590669840941,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -928.5090770099271,
+            -121.88590669840941,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -928.5090770099271,
+            -121.88590669840941,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -927.0090770099271,
+            -119.2878304870561,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -925.5090770099271,
+            -116.68975427570278,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -924.0090770099271,
+            -114.09167806434947,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -80.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-14-37_590335821/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-14-37_590335821/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21f9034e2f301e1993b64de0ec51716848202fd2
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-14-37_590335821/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            54.65880213864585,
+            -142.01599150198075,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            53.15880213864585,
+            -139.41791529062743,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            51.65880213864585,
+            -136.81983907927412,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            50.15880213864585,
+            -134.2217628679208,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            50.15880213864585,
+            -134.2217628679208,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            50.15880213864585,
+            -131.2217628679208,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            50.15880213864585,
+            -128.2217628679208,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            50.15880213864585,
+            -125.2217628679208,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            -84.0,
+            79.2117
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-25-14_180785147/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-25-14_180785147/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b330e3e4cfafb2c3dc883fd4cd766766c86922d
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-25-14_180785147/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -817.2495805853588,
+            10.594464520330916,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -818.7495805853588,
+            7.9963883089776004,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -820.2495805853588,
+            5.398312097624284,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -821.7495805853588,
+            2.8002358862709684,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -823.2495805853588,
+            0.2021596749176524,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -824.7495805853588,
+            -2.3959165364356636,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -826.2495805853588,
+            -4.99399274778898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -827.7495805853588,
+            -7.592068959142296,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -829.2495805853588,
+            -10.190145170495612,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -830.7495805853588,
+            -12.788221381848928,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -832.2495805853588,
+            -15.386297593202244,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -833.7495805853588,
+            -17.98437380455556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -835.2495805853588,
+            -20.582450015908876,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -836.7495805853588,
+            -23.18052622726219,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -838.2495805853588,
+            -25.778602438615508,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -839.7495805853588,
+            -28.376678649968824,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -841.2495805853588,
+            -30.97475486132214,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -842.7495805853588,
+            -33.572831072675456,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -844.2495805853588,
+            -36.17090728402877,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -845.7495805853588,
+            -38.76898349538209,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -847.2495805853588,
+            -41.367059706735404,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -847.2495805853588,
+            -41.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -847.2495805853588,
+            -44.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -847.2495805853588,
+            -47.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -847.2495805853588,
+            -50.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -847.2495805853588,
+            -53.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -847.2495805853588,
+            -56.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -847.2495805853588,
+            -59.367059706735404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -847.2495805853588,
+            -62.367059706735404,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -856.0,
+            -80.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-0_617909211/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-0_617909211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7734ffa45b1ba671154ecacf8fa1bd4537e5b85c
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-0_617909211/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            185.9027106469704,
+            -98.52081783794272,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            184.4027106469704,
+            -101.11889404929603,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            182.9027106469704,
+            -103.71697026064935,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            181.4027106469704,
+            -106.31504647200266,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            179.9027106469704,
+            -108.91312268335598,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            178.4027106469704,
+            -111.5111988947093,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            176.9027106469704,
+            -114.10927510606261,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            175.4027106469704,
+            -116.70735131741593,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            173.9027106469704,
+            -119.30542752876924,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            172.4027106469704,
+            -121.90350374012256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            170.9027106469704,
+            -124.50157995147588,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            169.4027106469704,
+            -127.09965616282919,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            167.9027106469704,
+            -129.69773237418252,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393193
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            166.4027106469704,
+            -132.29580858553584,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            164.9027106469704,
+            -134.89388479688915,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            164.9027106469704,
+            -134.89388479688915,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            162.3046344356171,
+            -136.39388479688915,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            159.70655822426377,
+            -137.89388479688915,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            157.10848201291046,
+            -139.39388479688915,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            154.51040580155714,
+            -140.89388479688915,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            151.91232959020383,
+            -142.39388479688915,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -164.0,
+            75.7737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-28_2033669086/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-28_2033669086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e971d7d6b978d924d9b493a559115b52ad457975
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-38-28_2033669086/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -817.9659427669565,
+            -315.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -815.3678665556031,
+            -314.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -812.7697903442497,
+            -312.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -810.1717141328963,
+            -311.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -807.573637921543,
+            -309.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -804.9755617101896,
+            -308.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -802.3774854988362,
+            -306.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -799.7794092874828,
+            -305.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -797.1813330761295,
+            -303.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -794.5832568647761,
+            -302.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -791.9851806534227,
+            -300.79986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -789.3871044420694,
+            -299.29986871358966,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -786.789028230716,
+            -297.79986871358966,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -280.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-4-5_157272379/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-4-5_157272379/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb3796df302fc95bd902eb22db3614f59a673660
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-4-5_157272379/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1043.6948479415446,
+            -63.533058943525766,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965965
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1042.1948479415446,
+            -66.13113515487908,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965965
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1040.6948479415446,
+            -68.72921136623239,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1039.1948479415446,
+            -71.32728757758571,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1039.1948479415446,
+            -71.32728757758571,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1036.5967717301912,
+            -72.82728757758571,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1033.9986955188378,
+            -74.32728757758571,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1031.4006193074845,
+            -75.82728757758571,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-49-18_1449228398/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-49-18_1449228398/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11c0d19caba592e2ff305883da1791fc9480d75f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-49-18_1449228398/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            215.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            212.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            209.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            206.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            203.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            200.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            197.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            194.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            191.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            188.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            185.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            182.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            182.54478336862599,
+            -182.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            179.94670715727267,
+            -180.72828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            177.34863094591935,
+            -179.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            174.75055473456604,
+            -177.72828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            172.15247852321272,
+            -176.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            169.5544023118594,
+            -174.72828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            166.9563261005061,
+            -173.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            164.35824988915277,
+            -171.72828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            161.76017367779946,
+            -170.22828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            159.16209746644614,
+            -168.72828752973282,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            156.56402125509283,
+            -167.22828752973282,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -164.0,
+            75.7737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-55-19_242588954/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-55-19_242588954/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c6035add9e597418e73ab2e50427417718b59e9
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-55-19_242588954/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -949.2109299039108,
+            -590.9171432639582,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -950.7109299039108,
+            -588.3190670526049,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -952.2109299039108,
+            -585.7209908412515,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -953.7109299039108,
+            -583.1229146298981,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -955.2109299039108,
+            -580.5248384185447,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -956.7109299039108,
+            -577.9267622071914,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -958.2109299039108,
+            -575.328685995838,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -959.7109299039108,
+            -572.7306097844846,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -961.2109299039108,
+            -570.1325335731312,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -962.7109299039108,
+            -567.5344573617779,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -964.2109299039108,
+            -564.9363811504245,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -965.7109299039108,
+            -562.3383049390711,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -967.2109299039108,
+            -559.7402287277177,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -968.7109299039108,
+            -557.1421525163644,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -970.2109299039108,
+            -554.544076305011,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -971.7109299039108,
+            -551.9460000936576,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -973.2109299039108,
+            -549.3479238823043,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -974.7109299039108,
+            -546.7498476709509,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -974.7109299039108,
+            -546.7498476709509,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -977.3090061152641,
+            -545.2498476709509,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -979.9070823266175,
+            -543.7498476709509,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-58-54_695466127/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-58-54_695466127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f0f75bf6c0f0f0b49c9a8c8717d6c0c78712d25e
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-58-54_695466127/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1012.832646862529,
+            -193.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1012.832646862529,
+            -190.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1012.832646862529,
+            -187.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1012.832646862529,
+            -184.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1012.832646862529,
+            -181.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1012.832646862529,
+            -178.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1012.832646862529,
+            -175.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1012.832646862529,
+            -172.05704568089556,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1012.832646862529,
+            -172.05704568089556,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1011.332646862529,
+            -169.45896946954224,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1009.832646862529,
+            -166.86089325818892,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-6-20_772970072/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-6-20_772970072/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45d5462cb6de022aa98b24bb65967b3b3b1b3e9f
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_19-6-20_772970072/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -964.2588235861616,
+            -505.35089572800587,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -961.6607473748084,
+            -506.85089572800587,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -959.062671163455,
+            -508.35089572800587,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -956.4645949521016,
+            -509.85089572800587,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -953.8665187407482,
+            -511.35089572800587,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -951.2684425293949,
+            -512.8508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -948.6703663180415,
+            -514.3508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -946.0722901066881,
+            -515.8508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -943.4742138953347,
+            -517.3508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -940.8761376839814,
+            -518.8508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -938.278061472628,
+            -520.3508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -935.6799852612746,
+            -521.8508957280059,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -935.6799852612746,
+            -521.8508957280059,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -934.1799852612746,
+            -524.4489719393591,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -932.6799852612746,
+            -527.0470481507125,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-0-26_1162088421/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-0-26_1162088421/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..528e442b5516496d582d966147d40420ff386837
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-0-26_1162088421/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -693.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -696.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -699.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -702.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -705.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -708.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -711.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -714.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -717.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -720.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -723.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -726.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -729.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -732.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -735.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -735.8341678077758,
+            -274.47516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -738.432244019129,
+            -275.97516250384274,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -741.0303202304824,
+            -277.47516250384274,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -280.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-13-45_878273679/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-13-45_878273679/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36980ddf51e91a577d68544cb3c780917f48997b
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-13-45_878273679/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -843.9624020630738,
+            -595.8200412901141,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -846.5604782744272,
+            -594.3200412901141,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -849.1585544857805,
+            -592.8200412901141,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -851.7566306971339,
+            -591.3200412901141,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -854.3547069084873,
+            -589.8200412901141,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -854.3547069084873,
+            -589.8200412901141,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -855.8547069084873,
+            -587.2219650787608,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -857.3547069084873,
+            -584.6238888674075,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -858.8547069084873,
+            -582.0258126560541,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-32-53_1348361729/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-32-53_1348361729/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..37239342cf3ac2c04e574db71b916fc8efb8c024
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-32-53_1348361729/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -939.199853081921,
+            -56.892852754043474,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -941.7979292932744,
+            -58.392852754043474,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -944.3960055046277,
+            -59.892852754043474,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -946.9940817159811,
+            -61.392852754043474,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -949.5921579273345,
+            -62.892852754043474,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -952.1902341386879,
+            -64.39285275404347,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -954.7883103500412,
+            -65.89285275404347,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -957.3863865613946,
+            -67.39285275404347,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -959.984462772748,
+            -68.89285275404347,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -959.984462772748,
+            -68.89285275404347,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -961.484462772748,
+            -71.49092896539679,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -962.984462772748,
+            -74.0890051767501,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -964.484462772748,
+            -76.68708138810342,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -965.984462772748,
+            -79.28515759945674,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -967.484462772748,
+            -81.88323381081005,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -968.984462772748,
+            -84.48131002216337,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-53-58_1698487330/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-53-58_1698487330/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f0d72465217bee9bf6e3d03c0d9a778c5a4ac7d
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-53-58_1698487330/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1104.7724871085431,
+            -370.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1102.1744108971898,
+            -369.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1099.5763346858364,
+            -367.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1096.978258474483,
+            -366.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1094.3801822631297,
+            -364.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1091.7821060517763,
+            -363.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1089.184029840423,
+            -361.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1086.5859536290695,
+            -360.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1083.9878774177162,
+            -358.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1081.3898012063628,
+            -357.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1078.7917249950094,
+            -355.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1076.193648783656,
+            -354.2979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1073.5955725723027,
+            -352.7979955568414,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1070.9974963609493,
+            -351.2979955568414,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -340.0,
+            75.7737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-27_359147515/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-27_359147515/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd83b98333f697b3de74845fd72a3104fc7b8529
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-27_359147515/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -985.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -982.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -979.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -976.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -973.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -970.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -967.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -964.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -961.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -961.6914291008741,
+            -308.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -959.0933528895207,
+            -306.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -956.4952766781673,
+            -305.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -953.897200466814,
+            -303.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -951.2991242554606,
+            -302.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -948.7010480441072,
+            -300.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -946.1029718327538,
+            -299.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -943.5048956214005,
+            -297.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -940.9068194100471,
+            -296.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -938.3087431986937,
+            -294.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -935.7106669873403,
+            -293.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -933.112590775987,
+            -291.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -930.5145145646336,
+            -290.01140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -927.9164383532802,
+            -288.51140161489155,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -925.3183621419269,
+            -287.01140161489155,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -280.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-43_1666231349/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-43_1666231349/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d4e6f750f7e85d1f5ca04251be77c529776a87e5
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-54-43_1666231349/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -933.433894632899,
+            -224.19082035715496,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -931.933894632899,
+            -226.78889656850828,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -930.433894632899,
+            -229.3869727798616,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -928.933894632899,
+            -231.9850489912149,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -927.433894632899,
+            -234.58312520256823,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -925.933894632899,
+            -237.18120141392154,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -924.433894632899,
+            -239.77927762527486,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -280.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-57-36_1692786742/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-57-36_1692786742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d909c7251f25500e92fc772fc0337cb473632a8a
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-57-36_1692786742/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1077.706598155265,
+            -588.8892260743103,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1076.206598155265,
+            -586.2911498629569,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1074.706598155265,
+            -583.6930736516035,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1073.206598155265,
+            -581.0949974402502,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1071.706598155265,
+            -578.4969212288968,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1070.206598155265,
+            -575.8988450175434,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1068.706598155265,
+            -573.30076880619,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1067.206598155265,
+            -570.7026925948367,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1065.706598155265,
+            -568.1046163834833,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1064.206598155265,
+            -565.5065401721299,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1062.706598155265,
+            -562.9084639607765,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1061.206598155265,
+            -560.3103877494232,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1059.706598155265,
+            -557.7123115380698,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1058.206598155265,
+            -555.1142353267164,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1056.706598155265,
+            -552.516159115363,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1056.706598155265,
+            -552.516159115363,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1056.706598155265,
+            -549.516159115363,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1056.706598155265,
+            -546.516159115363,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1056.706598155265,
+            -543.516159115363,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1048.0,
+            -528.0,
+            115.738
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-6-3_942724790/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-6-3_942724790/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ca817f26a18681e1ab36c9bfefa6ac3777cbb38
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_20-6-3_942724790/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -880.8545643390443,
+            5.9441727370399775,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -880.8545643390443,
+            2.9441727370399775,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -880.8545643390443,
+            -0.055827262960022495,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -880.8545643390443,
+            -3.0558272629600225,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -880.8545643390443,
+            -6.0558272629600225,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -880.8545643390443,
+            -9.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -880.8545643390443,
+            -12.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -880.8545643390443,
+            -15.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -880.8545643390443,
+            -18.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -880.8545643390443,
+            -21.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -880.8545643390443,
+            -24.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -880.8545643390443,
+            -27.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -880.8545643390443,
+            -30.055827262960022,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -880.8545643390443,
+            -33.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -880.8545643390443,
+            -36.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -880.8545643390443,
+            -39.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -880.8545643390443,
+            -42.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -880.8545643390443,
+            -45.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -880.8545643390443,
+            -48.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -880.8545643390443,
+            -51.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -880.8545643390443,
+            -54.05582726296002,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -880.8545643390443,
+            -54.05582726296002,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -882.3545643390443,
+            -56.65390347431334,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -883.8545643390443,
+            -59.251979685666655,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -885.3545643390443,
+            -61.85005589701997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -886.8545643390443,
+            -64.44813210837329,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -888.0,
+            -80.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-13-21_1756098480/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-13-21_1756098480/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d1c2185d484fecb0dfda3d796d3fa9c9c28760ee
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-13-21_1756098480/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -989.9106787423099,
+            -584.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -989.9106787423099,
+            -581.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -989.9106787423099,
+            -578.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -989.9106787423099,
+            -575.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -989.9106787423099,
+            -572.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -989.9106787423099,
+            -569.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -989.9106787423099,
+            -566.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -989.9106787423099,
+            -563.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -989.9106787423099,
+            -560.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -989.9106787423099,
+            -557.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -989.9106787423099,
+            -554.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -989.9106787423099,
+            -551.6187316408457,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -989.9106787423099,
+            -551.6187316408457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -991.4106787423099,
+            -549.0206554294923,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -992.9106787423099,
+            -546.4225792181389,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -994.4106787423099,
+            -543.8245030067856,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-17-3_1907712995/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-17-3_1907712995/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d6ce5b37ac72600eef0b4bb9b3b37bc3fd78b67e
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-17-3_1907712995/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1055.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1052.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1049.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1046.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1043.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1043.5128751675818,
+            -497.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1040.9147989562284,
+            -498.93050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1038.316722744875,
+            -500.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1035.7186465335217,
+            -501.93050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1033.1205703221683,
+            -503.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1030.522494110815,
+            -504.93050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1027.9244178994616,
+            -506.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1025.3263416881082,
+            -507.93050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1022.7282654767548,
+            -509.43050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1020.1301892654014,
+            -510.93050465160997,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1017.5321130540481,
+            -512.4305046516099,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598273
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1014.9340368426947,
+            -513.9305046516099,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1012.3359606313413,
+            -515.4305046516099,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1009.737884419988,
+            -516.9305046516099,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-23-43_1155465115/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-23-43_1155465115/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..81a811e7ad44e5f8daaa9d3a0cdad5d65e20dcf1
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-23-43_1155465115/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -715.8537207090285,
+            -326.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -718.4517969203819,
+            -327.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -721.0498731317352,
+            -329.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -723.6479493430886,
+            -330.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -726.246025554442,
+            -332.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -728.8441017657954,
+            -333.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -731.4421779771487,
+            -335.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -734.0402541885021,
+            -336.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -736.6383303998555,
+            -338.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -739.2364066112088,
+            -339.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -741.8344828225622,
+            -341.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -744.4325590339156,
+            -342.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -747.030635245269,
+            -344.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -749.6287114566223,
+            -345.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -752.2267876679757,
+            -347.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -754.8248638793291,
+            -348.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -757.4229400906825,
+            -350.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -760.0210163020358,
+            -351.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -762.6190925133892,
+            -353.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -765.2171687247426,
+            -354.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -767.815244936096,
+            -356.10723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -770.4133211474493,
+            -357.60723858540445,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -773.0113973588027,
+            -359.10723858540445,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -796.0,
+            -372.0,
+            91.3502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-25-52_181226513/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-25-52_181226513/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e1a35d1a77e6f2d210fdf9f2955e7fb50c7b8bb
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-25-52_181226513/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1027.0717986099016,
+            -54.721967089733006,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1025.5717986099016,
+            -57.32004330108632,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1024.0717986099016,
+            -59.91811951243964,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-3-46_573556837/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-3-46_573556837/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5dc8f405075267d080f1972c6464836530c8a48
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-3-46_573556837/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -928.5392981371801,
+            -448.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -928.5392981371801,
+            -451.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -928.5392981371801,
+            -454.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -928.5392981371801,
+            -457.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -928.5392981371801,
+            -460.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -928.5392981371801,
+            -463.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -928.5392981371801,
+            -466.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -928.5392981371801,
+            -469.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -928.5392981371801,
+            -472.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -928.5392981371801,
+            -475.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -928.5392981371801,
+            -478.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -928.5392981371801,
+            -481.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -928.5392981371801,
+            -484.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -928.5392981371801,
+            -487.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -928.5392981371801,
+            -490.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -928.5392981371801,
+            -493.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -928.5392981371801,
+            -496.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -928.5392981371801,
+            -499.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -928.5392981371801,
+            -502.08361886722435,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -928.5392981371801,
+            -502.08361886722435,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -927.0392981371801,
+            -504.68169507857766,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -925.5392981371801,
+            -507.279771289931,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -924.0392981371801,
+            -509.8778475012843,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -922.5392981371801,
+            -512.4759237126376,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -921.0392981371801,
+            -515.0739999239909,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -919.5392981371801,
+            -517.6720761353442,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -918.0392981371801,
+            -520.2701523466976,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -916.5392981371801,
+            -522.868228558051,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -915.0392981371801,
+            -525.4663047694044,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -913.5392981371801,
+            -528.0643809807577,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -912.0392981371801,
+            -530.6624571921111,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-33-6_888482339/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-33-6_888482339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c450fc31db2cc9a25ce5e8f5d9884b008d9157f0
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-33-6_888482339/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -722.4714948375731,
+            -335.74337677265896,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -723.9714948375731,
+            -333.14530056130565,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -725.4714948375731,
+            -330.54722434995233,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -726.9714948375731,
+            -327.949148138599,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -728.4714948375731,
+            -325.3510719272457,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -729.9714948375731,
+            -322.7529957158924,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -731.4714948375731,
+            -320.15491950453907,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -732.9714948375731,
+            -317.55684329318575,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -734.4714948375731,
+            -314.95876708183243,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -735.9714948375731,
+            -312.3606908704791,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -737.4714948375731,
+            -309.7626146591258,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -760.0,
+            -280.0,
+            80.3059
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-39-25_1170132540/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-39-25_1170132540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d276190d29ff852cf2a14bf3ad93091c2719bf56
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-39-25_1170132540/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -912.1950726383196,
+            -480.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -912.1950726383196,
+            -483.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -912.1950726383196,
+            -486.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -912.1950726383196,
+            -489.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -912.1950726383196,
+            -492.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -912.1950726383196,
+            -495.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -912.1950726383196,
+            -498.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -912.1950726383196,
+            -501.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -912.1950726383196,
+            -504.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -912.1950726383196,
+            -507.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -912.1950726383196,
+            -510.00960801190973,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -912.1950726383196,
+            -513.0096080119097,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -912.1950726383196,
+            -516.0096080119097,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -912.1950726383196,
+            -519.0096080119097,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -912.1950726383196,
+            -522.0096080119097,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -912.1950726383196,
+            -522.0096080119097,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -910.6950726383196,
+            -524.607684223263,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -909.1950726383196,
+            -527.2057604346164,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-4-35_1531585205/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-4-35_1531585205/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..658fd3575b0d8d7706430c8908677dc60af0d412
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-4-35_1531585205/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1064.4278641717885,
+            -545.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1061.8297879604352,
+            -544.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1059.2317117490818,
+            -542.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1056.6336355377284,
+            -541.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1054.035559326375,
+            -539.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1051.4374831150217,
+            -538.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1048.8394069036683,
+            -536.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1046.241330692315,
+            -535.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1043.6432544809616,
+            -533.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1041.0451782696082,
+            -532.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1038.4471020582548,
+            -530.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1035.8490258469014,
+            -529.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1033.250949635548,
+            -527.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1030.6528734241947,
+            -526.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1028.0547972128413,
+            -524.980900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1025.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1025.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1022.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1019.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1016.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1013.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1010.456721001488,
+            -523.480900558012,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -520.0,
+            75.5737
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-40-4_2092720083/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-40-4_2092720083/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e94836d11c39aa22827498f533e71b9611d8e574
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-40-4_2092720083/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            178.9058193812588,
+            -282.0897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            176.30774316990548,
+            -280.5897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            173.70966695855216,
+            -279.0897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            171.11159074719885,
+            -277.5897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            168.51351453584553,
+            -276.0897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            165.91543832449221,
+            -274.5897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            163.3173621131389,
+            -273.0897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            160.71928590178558,
+            -271.5897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            158.12120969043227,
+            -270.0897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            155.52313347907895,
+            -268.5897584261235,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            155.52313347907895,
+            -268.5897584261235,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            154.02313347907895,
+            -265.9916822147702,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            152.52313347907895,
+            -263.3936060034169,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            151.02313347907895,
+            -260.7955297920636,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            149.52313347907895,
+            -258.19745358071026,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            148.02313347907895,
+            -255.59937736935694,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            146.52313347907895,
+            -253.00130115800363,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            145.02313347907895,
+            -250.4032249466503,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            145.02313347907895,
+            -250.4032249466503,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            142.42505726772563,
+            -248.9032249466503,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            139.82698105637232,
+            -247.4032249466503,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            132.0,
+            -240.0,
+            115.81
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-48-51_1295815494/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-48-51_1295815494/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e6500b82327faf18dbb0dc05064e620beed616aa
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-48-51_1295815494/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -836.5649037204645,
+            -426.4866032141006,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -838.0649037204645,
+            -429.08467942545394,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -839.5649037204645,
+            -431.68275563680726,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -841.0649037204645,
+            -434.2808318481606,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -841.0649037204645,
+            -434.2808318481606,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -843.6629799318177,
+            -435.7808318481606,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -846.2610561431711,
+            -437.2808318481606,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -848.8591323545245,
+            -438.7808318481606,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -851.4572085658779,
+            -440.2808318481606,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -851.4572085658779,
+            -440.2808318481606,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -852.9572085658779,
+            -442.8789080595139,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -854.4572085658779,
+            -445.4769842708672,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -855.9572085658779,
+            -448.0750604822205,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -857.4572085658779,
+            -450.67313669357384,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -858.9572085658779,
+            -453.27121290492715,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -860.4572085658779,
+            -455.86928911628047,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -861.9572085658779,
+            -458.4673653276338,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -863.4572085658779,
+            -461.0654415389871,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -864.9572085658779,
+            -463.6635177503404,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -864.9572085658779,
+            -463.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -864.9572085658779,
+            -466.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -864.9572085658779,
+            -469.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -864.9572085658779,
+            -472.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -864.9572085658779,
+            -475.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -864.9572085658779,
+            -478.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -864.9572085658779,
+            -481.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -864.9572085658779,
+            -484.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -864.9572085658779,
+            -487.6635177503404,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -864.9572085658779,
+            -490.6635177503404,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -872.0,
+            -512.0,
+            73.4077
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-49-8_753959819/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-49-8_753959819/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..247a735228d3f9de58e71397cde097556545f700
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-49-8_753959819/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -969.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -966.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -963.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -960.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -957.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -954.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -954.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -954.046929389784,
+            -506.9364316982256,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -952.546929389784,
+            -509.5345079095789,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -951.046929389784,
+            -512.1325841209323,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -949.546929389784,
+            -514.7306603322857,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -948.046929389784,
+            -517.328736543639,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -946.546929389784,
+            -519.9268127549924,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -945.046929389784,
+            -522.5248889663458,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -945.046929389784,
+            -522.5248889663458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -942.4488531784307,
+            -524.0248889663458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -939.8507769670773,
+            -525.5248889663458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -937.2527007557239,
+            -527.0248889663458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -934.6546245443706,
+            -528.5248889663458,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -932.0565483330172,
+            -530.0248889663458,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -908.0,
+            -544.0,
+            115.729
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-5-32_674402557/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-5-32_674402557/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..16b76d62c2c88747202bd0aebdd39fa1fba4294a
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-5-32_674402557/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -940.0820272632157,
+            -232.2033667647769,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -938.5820272632157,
+            -234.8014429761302,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -937.0820272632157,
+            -237.39951918748352,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -935.5820272632157,
+            -239.99759539883684,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -934.0820272632157,
+            -242.59567161019015,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -932.5820272632157,
+            -245.19374782154347,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -931.0820272632157,
+            -247.79182403289678,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -931.0820272632157,
+            -247.79182403289678,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -928.4839510518623,
+            -249.29182403289678,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -925.8858748405089,
+            -250.79182403289678,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -900.0,
+            -280.0,
+            120.431
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-8-11_1256273378/pose.jsonl b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-8-11_1256273378/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..899e51645c3c422d000ace161f956d6deedeac73
--- /dev/null
+++ b/Image/env_airsim_16/astar_data/high_short/2025-1-9_21-8-11_1256273378/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -934.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -937.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -940.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -943.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -946.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -946.3367895158767,
+            -91.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -948.9348657272301,
+            -93.49269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -951.5329419385835,
+            -94.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -954.1310181499368,
+            -96.49269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -956.7290943612902,
+            -97.99269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -959.3271705726436,
+            -99.49269616888898,
+            87.81275808263148
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -959.3271705726436,
+            -99.49269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -962.3271705726436,
+            -99.49269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -965.3271705726436,
+            -99.49269616888898,
+            87.81275808263148
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -968.3271705726436,
+            -99.49269616888898,
+            87.81275808263148
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -996.0,
+            -108.0,
+            73.4265
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}