diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-37-40_1469834481/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-37-40_1469834481/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..171a3dd84a49936363fce1006eeba26b3941384c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-37-40_1469834481/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1119.448876861643,
+            -456.04959731651013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1117.948876861643,
+            -453.4515211051568,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1116.448876861643,
+            -450.8534448938035,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1114.948876861643,
+            -448.2553686824502,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1113.448876861643,
+            -445.65729247109687,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1111.948876861643,
+            -443.05921625974355,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1110.448876861643,
+            -440.46114004839023,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1108.948876861643,
+            -437.8630638370369,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1107.448876861643,
+            -435.2649876256836,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1105.948876861643,
+            -432.6669114143303,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1104.448876861643,
+            -430.06883520297697,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1102.948876861643,
+            -427.47075899162365,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1101.448876861643,
+            -424.87268278027034,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1101.448876861643,
+            -424.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1098.8508006502896,
+            -423.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1096.2527244389362,
+            -421.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1093.6546482275828,
+            -420.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1091.0565720162294,
+            -418.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1088.458495804876,
+            -417.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1085.8604195935227,
+            -415.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1083.2623433821693,
+            -414.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1080.664267170816,
+            -412.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1078.0661909594626,
+            -411.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1075.4681147481092,
+            -409.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1072.8700385367558,
+            -408.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1070.2719623254025,
+            -406.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1067.673886114049,
+            -405.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1065.0758099026957,
+            -403.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1062.4777336913423,
+            -402.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1059.879657479989,
+            -400.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1057.2815812686356,
+            -399.37268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1054.6835050572822,
+            -397.87268278027034,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1054.6835050572822,
+            -397.87268278027034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1053.1835050572822,
+            -395.274606568917,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1051.6835050572822,
+            -392.6765303575637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1050.1835050572822,
+            -390.0784541462104,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1048.6835050572822,
+            -387.4803779348571,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1047.1835050572822,
+            -384.88230172350376,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1020.0,
+            -360.0,
+            147.526
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-42-25_352406219/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-42-25_352406219/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb0f8d6a03192c2ce243ad55cbb1520b30404c91
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-42-25_352406219/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            503.54298850606494,
+            707.7219447801504,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            502.04298850606494,
+            705.123868568797,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            500.54298850606494,
+            702.5257923574436,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            499.04298850606494,
+            699.9277161460902,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            497.54298850606494,
+            697.3296399347369,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            496.04298850606494,
+            694.7315637233835,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            494.54298850606494,
+            692.1334875120301,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            493.04298850606494,
+            689.5354113006767,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            491.54298850606494,
+            686.9373350893234,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            490.04298850606494,
+            684.33925887797,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            488.54298850606494,
+            681.7411826666166,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            487.04298850606494,
+            679.1431064552633,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            485.54298850606494,
+            676.5450302439099,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            484.04298850606494,
+            673.9469540325565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            482.54298850606494,
+            671.3488778212031,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            481.04298850606494,
+            668.7508016098498,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            479.54298850606494,
+            666.1527253984964,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            478.04298850606494,
+            663.554649187143,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            478.04298850606494,
+            663.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            478.04298850606494,
+            660.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            478.04298850606494,
+            657.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            478.04298850606494,
+            654.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            478.04298850606494,
+            651.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            478.04298850606494,
+            648.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            478.04298850606494,
+            645.554649187143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            478.04298850606494,
+            642.554649187143,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-7-50_1734575198/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-7-50_1734575198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea3710c30849ead1a50533ca83b2c1d10179620c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_14-7-50_1734575198/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -1102.9622590275717,
+            -257.66062734640656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1101.4622590275717,
+            -260.2587035577599,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -1099.9622590275717,
+            -262.8567797691132,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -1098.4622590275717,
+            -265.4548559804665,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1096.9622590275717,
+            -268.0529321918198,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -1095.4622590275717,
+            -270.65100840317314,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -1093.9622590275717,
+            -273.24908461452645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -1092.4622590275717,
+            -275.84716082587977,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -1090.9622590275717,
+            -278.4452370372331,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -1089.4622590275717,
+            -281.0433132485864,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -1087.9622590275717,
+            -283.6413894599397,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -1086.4622590275717,
+            -286.23946567129303,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1084.9622590275717,
+            -288.83754188264635,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -1083.4622590275717,
+            -291.43561809399966,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -1081.9622590275717,
+            -294.033694305353,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -1080.4622590275717,
+            -296.6317705167063,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1078.9622590275717,
+            -299.2298467280596,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -1077.4622590275717,
+            -301.82792293941293,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -1075.9622590275717,
+            -304.42599915076624,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -1074.4622590275717,
+            -307.02407536211956,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -1072.9622590275717,
+            -309.6221515734729,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -1071.4622590275717,
+            -312.2202277848262,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -1069.9622590275717,
+            -314.8183039961795,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -1068.4622590275717,
+            -317.4163802075328,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -1066.9622590275717,
+            -320.01445641888614,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -1065.4622590275717,
+            -322.61253263023946,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1063.9622590275717,
+            -325.2106088415928,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1062.4622590275717,
+            -327.8086850529461,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1060.9622590275717,
+            -330.4067612642994,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1060.9622590275717,
+            -330.4067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1058.3641828162183,
+            -331.9067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -1055.766106604865,
+            -333.4067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -1053.1680303935116,
+            -334.9067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -1050.5699541821582,
+            -336.4067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -1047.9718779708048,
+            -337.9067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -1045.3738017594515,
+            -339.4067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -1042.775725548098,
+            -340.9067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -1040.1776493367447,
+            -342.4067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -1037.5795731253913,
+            -343.9067612642994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -1034.981496914038,
+            -345.4067612642994,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -1020.0,
+            -360.0,
+            147.526
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-54-39_846811127/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-54-39_846811127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..528bb3fa4cd29a5a787dbe24822abfa42be5b028
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_15-54-39_846811127/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            755.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            758.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            761.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            764.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            767.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            770.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            773.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            776.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            779.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            782.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            785.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            788.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            791.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            794.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            797.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            800.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            803.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            806.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            809.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            812.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            815.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            818.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            821.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            824.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            824.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            824.9692551479397,
+            -1647.89850922164,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            826.4692551479397,
+            -1650.4965854329935,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            827.9692551479397,
+            -1653.0946616443468,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            829.4692551479397,
+            -1655.6927378557002,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            829.4692551479397,
+            -1655.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            832.0673313592931,
+            -1657.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            834.6654075706465,
+            -1658.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            837.2634837819999,
+            -1660.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            839.8615599933532,
+            -1661.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            842.4596362047066,
+            -1663.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            845.05771241606,
+            -1664.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            847.6557886274134,
+            -1666.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            850.2538648387667,
+            -1667.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            852.8519410501201,
+            -1669.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            855.4500172614735,
+            -1670.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            858.0480934728268,
+            -1672.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            860.6461696841802,
+            -1673.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            863.2442458955336,
+            -1675.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            865.842322106887,
+            -1676.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            868.4403983182403,
+            -1678.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            871.0384745295937,
+            -1679.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            873.6365507409471,
+            -1681.1927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            876.2346269523005,
+            -1682.6927378557002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            878.8327031636538,
+            -1684.1927378557002,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            896.0,
+            -1688.0,
+            168.713
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-28-29_78012497/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-28-29_78012497/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e86a7109bb21934f3a221d845d99961400fafc14
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-28-29_78012497/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            769.4001924895525,
+            -1203.6930794224438,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            767.9001924895525,
+            -1201.0950032110904,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            766.4001924895525,
+            -1198.496926999737,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            764.9001924895525,
+            -1195.8988507883837,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            763.4001924895525,
+            -1193.3007745770303,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            761.9001924895525,
+            -1190.702698365677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            760.4001924895525,
+            -1188.1046221543236,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            758.9001924895525,
+            -1185.5065459429702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            757.4001924895525,
+            -1182.9084697316168,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            755.9001924895525,
+            -1180.3103935202635,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            754.4001924895525,
+            -1177.71231730891,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            752.9001924895525,
+            -1175.1142410975567,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            751.4001924895525,
+            -1172.5161648862033,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            749.9001924895525,
+            -1169.91808867485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            748.4001924895525,
+            -1167.3200124634966,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            746.9001924895525,
+            -1164.7219362521432,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            745.4001924895525,
+            -1162.1238600407899,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            743.9001924895525,
+            -1159.5257838294365,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            742.4001924895525,
+            -1156.927707618083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            740.9001924895525,
+            -1154.3296314067297,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            740.9001924895525,
+            -1154.3296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            738.3021162781993,
+            -1152.8296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            735.7040400668459,
+            -1151.3296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            733.1059638554925,
+            -1149.8296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            730.5078876441391,
+            -1148.3296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            727.9098114327858,
+            -1146.8296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            725.3117352214324,
+            -1145.3296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            722.713659010079,
+            -1143.8296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            720.1155827987257,
+            -1142.3296314067297,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            720.1155827987257,
+            -1142.3296314067297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            718.6155827987257,
+            -1139.7315551953764,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -1108.0,
+            165.103
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-8-22_1682085273/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-8-22_1682085273/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c93ab0e4abe1eb48cf37fe6c9a6537595f31c2eb
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_16-8-22_1682085273/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            549.6799723613805,
+            378.25443460429744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            548.1799723613805,
+            380.85251081565076,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            546.6799723613805,
+            383.4505870270041,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            545.1799723613805,
+            386.0486632383574,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            543.6799723613805,
+            388.6467394497107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            542.1799723613805,
+            391.244815661064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            540.6799723613805,
+            393.84289187241734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            539.1799723613805,
+            396.44096808377066,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            539.1799723613805,
+            396.44096808377066,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            536.5818961500272,
+            397.94096808377066,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            533.9838199386738,
+            399.44096808377066,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            531.3857437273205,
+            400.94096808377066,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            531.3857437273205,
+            400.94096808377066,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            529.8857437273205,
+            403.539044295124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            528.3857437273205,
+            406.1371205064773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            526.8857437273205,
+            408.7351967178306,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            525.3857437273205,
+            411.3332729291839,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            523.8857437273205,
+            413.93134914053724,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            522.3857437273205,
+            416.52942535189055,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            520.8857437273205,
+            419.12750156324387,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            519.3857437273205,
+            421.7255777745972,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            517.8857437273205,
+            424.3236539859505,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            516.3857437273205,
+            426.9217301973038,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            514.8857437273205,
+            429.51980640865713,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            514.8857437273205,
+            429.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            514.8857437273205,
+            432.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            514.8857437273205,
+            435.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            514.8857437273205,
+            438.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            514.8857437273205,
+            441.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            514.8857437273205,
+            444.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            514.8857437273205,
+            447.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            514.8857437273205,
+            450.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            514.8857437273205,
+            453.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            514.8857437273205,
+            456.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            514.8857437273205,
+            459.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            514.8857437273205,
+            462.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            514.8857437273205,
+            465.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            514.8857437273205,
+            468.51980640865713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            514.8857437273205,
+            471.51980640865713,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            500.0,
+            508.0,
+            153.926
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-14-28_1748806355/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-14-28_1748806355/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..34d598af7c00a3a9aa59805110e1b5890b6b0584
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-14-28_1748806355/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            805.0789209202982,
+            208.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            802.4808447089449,
+            206.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            799.8827684975915,
+            205.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            797.2846922862382,
+            203.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            794.6866160748848,
+            202.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            792.0885398635314,
+            200.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            789.490463652178,
+            199.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            786.8923874408247,
+            197.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            784.2943112294713,
+            196.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            781.6962350181179,
+            194.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            779.0981588067646,
+            193.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            776.5000825954112,
+            191.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            773.9020063840578,
+            190.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            771.3039301727044,
+            188.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            768.7058539613511,
+            187.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            766.1077777499977,
+            185.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            763.5097015386443,
+            184.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            760.911625327291,
+            182.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            758.3135491159376,
+            181.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            755.7154729045842,
+            179.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            753.1173966932308,
+            178.44303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            750.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            750.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            747.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            744.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            741.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            738.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            735.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            732.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            729.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            726.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            723.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            720.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            717.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            714.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            711.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            708.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            705.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            702.5193204818775,
+            176.94303625137093,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.0,
+            168.0,
+            157.55
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-20-34_159473059/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-20-34_159473059/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4189d1e0af70c5a5a5e666eecc456197eb0e9d15
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-20-34_159473059/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -388.17395838185405,
+            237.29098400571388,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -386.67395838185405,
+            234.69290779436056,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -385.17395838185405,
+            232.09483158300725,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -383.67395838185405,
+            229.49675537165393,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -382.17395838185405,
+            226.89867916030062,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -380.67395838185405,
+            224.3006029489473,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -379.17395838185405,
+            221.70252673759398,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -377.67395838185405,
+            219.10445052624067,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -376.17395838185405,
+            216.50637431488735,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -374.67395838185405,
+            213.90829810353404,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -373.17395838185405,
+            211.31022189218072,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -371.67395838185405,
+            208.7121456808274,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -370.17395838185405,
+            206.1140694694741,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -368.67395838185405,
+            203.51599325812077,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -367.17395838185405,
+            200.91791704676746,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -365.67395838185405,
+            198.31984083541414,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -364.17395838185405,
+            195.72176462406082,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -362.67395838185405,
+            193.1236884127075,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -361.17395838185405,
+            190.5256122013542,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -359.67395838185405,
+            187.92753599000088,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -358.17395838185405,
+            185.32945977864756,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -356.67395838185405,
+            182.73138356729424,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -355.17395838185405,
+            180.13330735594093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -353.67395838185405,
+            177.5352311445876,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -352.17395838185405,
+            174.9371549332343,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -350.67395838185405,
+            172.33907872188098,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -349.17395838185405,
+            169.74100251052766,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -347.67395838185405,
+            167.14292629917435,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -346.17395838185405,
+            164.54485008782103,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -344.67395838185405,
+            161.94677387646772,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -343.17395838185405,
+            159.3486976651144,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -341.67395838185405,
+            156.75062145376108,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -340.17395838185405,
+            154.15254524240777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -338.67395838185405,
+            151.55446903105445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -337.17395838185405,
+            148.95639281970114,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -335.67395838185405,
+            146.35831660834782,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -334.17395838185405,
+            143.7602403969945,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -332.67395838185405,
+            141.1621641856412,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -331.17395838185405,
+            138.56408797428787,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -329.67395838185405,
+            135.96601176293456,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -328.17395838185405,
+            133.36793555158124,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            116.0,
+            153.562
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-21-27_478034945/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-21-27_478034945/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d90f817314f827af0307130882a54b12a61c388
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-21-27_478034945/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            253.84888909466738,
+            293.59392514248407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            252.34888909466738,
+            290.99584893113075,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            250.84888909466738,
+            288.39777271977744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            249.34888909466738,
+            285.7996965084241,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            247.84888909466738,
+            283.2016202970708,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            246.34888909466738,
+            280.6035440857175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            244.84888909466738,
+            278.00546787436417,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            243.34888909466738,
+            275.40739166301086,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            241.84888909466738,
+            272.80931545165754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            240.34888909466738,
+            270.2112392403042,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            238.84888909466738,
+            267.6131630289509,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            237.34888909466738,
+            265.0150868175976,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            235.84888909466738,
+            262.4170106062443,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            234.34888909466738,
+            259.81893439489096,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            232.84888909466738,
+            257.22085818353764,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            232.84888909466738,
+            257.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            232.84888909466738,
+            254.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            232.84888909466738,
+            251.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            232.84888909466738,
+            248.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            232.84888909466738,
+            245.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            232.84888909466738,
+            242.22085818353764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            232.84888909466738,
+            239.22085818353764,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            216.0,
+            196.0,
+            446.603
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-22-40_1584710873/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-22-40_1584710873/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1c007fb2e2e6e7e7fbf19c717d4406e589fada4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-22-40_1584710873/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            237.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            240.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            243.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            246.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            249.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            252.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            255.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            258.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            261.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            264.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            267.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            270.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            273.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            276.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            279.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            282.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            285.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            288.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            291.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            291.4602152566167,
+            830.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            294.05829146797004,
+            832.137346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            296.65636767932335,
+            833.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            299.25444389067667,
+            835.137346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            301.85252010203,
+            836.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            304.4505963133833,
+            838.137346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            307.0486725247366,
+            839.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            309.64674873608993,
+            841.137346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            312.24482494744325,
+            842.637346604428,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            312.24482494744325,
+            842.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            315.24482494744325,
+            842.637346604428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            318.24482494744325,
+            842.637346604428,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            848.0,
+            180.724
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-52_1747844822/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-52_1747844822/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d2897c9df5fe1a0ac30836e846469f4e5f6403b3
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_17-59-52_1747844822/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            600.672475163369,
+            765.5285596920605,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            599.172475163369,
+            762.9304834807072,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            597.672475163369,
+            760.3324072693538,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            596.172475163369,
+            757.7343310580004,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            594.672475163369,
+            755.136254846647,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            593.172475163369,
+            752.5381786352937,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            591.672475163369,
+            749.9401024239403,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            590.172475163369,
+            747.3420262125869,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            588.672475163369,
+            744.7439500012335,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            587.172475163369,
+            742.1458737898802,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            585.672475163369,
+            739.5477975785268,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            584.172475163369,
+            736.9497213671734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            582.672475163369,
+            734.35164515582,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            581.172475163369,
+            731.7535689444667,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            579.672475163369,
+            729.1554927331133,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            578.172475163369,
+            726.5574165217599,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            576.672475163369,
+            723.9593403104066,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            575.172475163369,
+            721.3612640990532,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            573.672475163369,
+            718.7631878876998,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            572.172475163369,
+            716.1651116763464,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            570.672475163369,
+            713.5670354649931,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            569.172475163369,
+            710.9689592536397,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            567.672475163369,
+            708.3708830422863,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            566.172475163369,
+            705.772806830933,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            564.672475163369,
+            703.1747306195796,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            668.0,
+            143.189
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-11-11_1910300925/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-11-11_1910300925/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb386ce257634cff4361f4576e03eebf02a1cab9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-11-11_1910300925/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            862.9383372140809,
+            -1241.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            860.3402610027276,
+            -1239.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            857.7421847913743,
+            -1238.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            855.1441085800209,
+            -1236.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            852.5460323686675,
+            -1235.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            849.9479561573141,
+            -1233.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            847.3498799459608,
+            -1232.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            844.7518037346074,
+            -1230.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            842.153727523254,
+            -1229.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            839.5556513119006,
+            -1227.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            836.9575751005473,
+            -1226.3517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            834.3594988891939,
+            -1224.8517380988349,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            834.3594988891939,
+            -1224.8517380988349,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            832.8594988891939,
+            -1222.2536618874815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            831.3594988891939,
+            -1219.655585676128,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            829.8594988891939,
+            -1217.0575094647747,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            828.3594988891939,
+            -1214.4594332534214,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            826.8594988891939,
+            -1211.861357042068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            825.3594988891939,
+            -1209.2632808307146,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            823.8594988891939,
+            -1206.6652046193612,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            822.3594988891939,
+            -1204.0671284080079,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            820.8594988891939,
+            -1201.4690521966545,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            820.8594988891939,
+            -1201.4690521966545,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            818.2614226778405,
+            -1199.9690521966545,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            815.6633464664872,
+            -1198.4690521966545,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            813.0652702551338,
+            -1196.9690521966545,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-14-59_1988714904/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-14-59_1988714904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2024e5f5ececfded729dd83f87b4db4c3e23d739
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-14-59_1988714904/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            456.683402104548,
+            333.51980638264547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            459.683402104548,
+            333.51980638264547,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            459.683402104548,
+            333.51980638264547,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            459.683402104548,
+            333.51980638264547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            461.183402104548,
+            336.1178825939988,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            462.683402104548,
+            338.7159588053521,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            464.183402104548,
+            341.3140350167054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            465.683402104548,
+            343.91211122805873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            467.183402104548,
+            346.51018743941205,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            468.683402104548,
+            349.10826365076537,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            470.183402104548,
+            351.7063398621187,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            471.683402104548,
+            354.304416073472,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            473.183402104548,
+            356.9024922848253,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            474.683402104548,
+            359.50056849617863,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            476.183402104548,
+            362.09864470753195,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            477.683402104548,
+            364.69672091888526,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            479.183402104548,
+            367.2947971302386,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            480.683402104548,
+            369.8928733415919,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            482.183402104548,
+            372.4909495529452,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            482.183402104548,
+            372.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            484.7814783159013,
+            373.9909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            487.37955452725464,
+            375.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            489.97763073860796,
+            376.9909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            492.5757069499613,
+            378.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            495.1737831613146,
+            379.9909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            497.7718593726679,
+            381.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            500.3699355840212,
+            382.9909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            502.96801179537454,
+            384.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            505.56608800672785,
+            385.9909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            508.16416421808117,
+            387.4909495529452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            510.7622404294345,
+            388.9909495529452,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            540.0,
+            416.0,
+            161.872
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-17-50_35756851/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-17-50_35756851/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a402aabd04675c1181291165e39d2bae7772ae02
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-17-50_35756851/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            402.2812822832618,
+            -812.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            399.6832060719085,
+            -810.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            397.0851298605552,
+            -809.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            394.48705364920187,
+            -807.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            391.88897743784855,
+            -806.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            389.29090122649524,
+            -804.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            386.6928250151419,
+            -803.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            384.0947488037886,
+            -801.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            381.4966725924353,
+            -800.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            378.898596381082,
+            -798.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            376.30052016972866,
+            -797.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            373.70244395837534,
+            -795.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            371.104367747022,
+            -794.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            368.5062915356687,
+            -792.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            365.9082153243154,
+            -791.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            363.3101391129621,
+            -789.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            360.71206290160876,
+            -788.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            358.11398669025544,
+            -786.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            355.51591047890213,
+            -785.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            352.9178342675488,
+            -783.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            350.3197580561955,
+            -782.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            347.7216818448422,
+            -780.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            345.12360563348886,
+            -779.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            342.52552942213555,
+            -777.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            339.92745321078223,
+            -776.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            337.3293769994289,
+            -774.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            334.7313007880756,
+            -773.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            332.1332245767223,
+            -771.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            329.53514836536897,
+            -770.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            326.93707215401565,
+            -768.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            324.33899594266234,
+            -767.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            321.740919731309,
+            -765.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            319.1428435199557,
+            -764.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            316.5447673086024,
+            -762.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            313.9466910972491,
+            -761.436558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            311.34861488589576,
+            -759.936558003069,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            308.75053867454244,
+            -758.436558003069,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            276.0,
+            -740.0,
+            147.026
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-36_1467963981/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-36_1467963981/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea514def922429cd71e939960dc2df1c763b3c3f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-23-36_1467963981/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            0.09259448329085984,
+            -133.10860426076033,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -1.4074055167091395,
+            -130.51052804940701,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -2.907405516709139,
+            -127.9124518380537,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -4.407405516709138,
+            -125.31437562670038,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -5.9074055167091375,
+            -122.71629941534707,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -7.407405516709137,
+            -120.11822320399375,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -8.907405516709137,
+            -117.52014699264043,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -10.407405516709137,
+            -114.92207078128712,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -11.907405516709137,
+            -112.3239945699338,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -13.407405516709137,
+            -109.72591835858049,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -14.907405516709137,
+            -107.12784214722717,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -16.407405516709137,
+            -104.52976593587385,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -17.907405516709137,
+            -101.93168972452054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -19.407405516709137,
+            -99.33361351316722,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -20.907405516709137,
+            -96.7355373018139,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -22.407405516709137,
+            -94.13746109046059,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -23.907405516709137,
+            -91.53938487910727,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -25.407405516709137,
+            -88.94130866775396,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -26.907405516709137,
+            -86.34323245640064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -28.407405516709137,
+            -83.74515624504733,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -29.907405516709137,
+            -81.14708003369401,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -31.407405516709137,
+            -78.5490038223407,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -31.407405516709137,
+            -78.5490038223407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -31.407405516709137,
+            -75.5490038223407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -31.407405516709137,
+            -72.5490038223407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -31.407405516709137,
+            -69.5490038223407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -31.407405516709137,
+            -66.5490038223407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -31.407405516709137,
+            -63.549003822340694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -31.407405516709137,
+            -60.549003822340694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -31.407405516709137,
+            -57.549003822340694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -31.407405516709137,
+            -54.549003822340694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -31.407405516709137,
+            -51.549003822340694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -31.407405516709137,
+            -48.549003822340694,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            -28.0,
+            212.257
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-37-31_1862875640/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-37-31_1862875640/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ef05dc94f7dbcb65e14b8a2b6f04900f4a6a613
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-37-31_1862875640/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -36.851222240325484,
+            443.40461649778354,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -35.351222240325484,
+            446.00269270913685,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -33.851222240325484,
+            448.60076892049017,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -32.351222240325484,
+            451.1988451318435,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -30.851222240325484,
+            453.7969213431968,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -29.351222240325484,
+            456.3949975545501,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -27.851222240325484,
+            458.99307376590343,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -26.351222240325484,
+            461.59114997725675,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -24.851222240325484,
+            464.18922618861006,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -23.351222240325484,
+            466.7873023999634,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -21.851222240325484,
+            469.3853786113167,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -20.351222240325484,
+            471.98345482267,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -18.851222240325484,
+            474.5815310340233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -17.351222240325484,
+            477.17960724537664,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -15.851222240325484,
+            479.77768345672996,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -14.351222240325484,
+            482.3757596680833,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -12.851222240325484,
+            484.9738358794366,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -11.351222240325484,
+            487.5719120907899,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -9.851222240325484,
+            490.1699883021432,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -8.351222240325484,
+            492.76806451349654,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -6.851222240325484,
+            495.36614072484986,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -5.351222240325484,
+            497.9642169362032,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -3.8512222403254834,
+            500.5622931475565,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -3.8512222403254834,
+            500.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -3.8512222403254834,
+            503.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -3.8512222403254834,
+            506.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -3.8512222403254834,
+            509.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -3.8512222403254834,
+            512.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -3.8512222403254834,
+            515.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -3.8512222403254834,
+            518.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -3.8512222403254834,
+            521.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -3.8512222403254834,
+            524.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -3.8512222403254834,
+            527.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -3.8512222403254834,
+            530.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -3.8512222403254834,
+            533.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -3.8512222403254834,
+            536.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -3.8512222403254834,
+            539.5622931475565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -3.8512222403254834,
+            542.5622931475565,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            4.0,
+            564.0,
+            235.27
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-38-20_1022089159/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-38-20_1022089159/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9435c44b1b649f54ad8daba6c6e09d440e2ebfa7
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-38-20_1022089159/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -19.49070859705469,
+            769.2252830695825,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -17.99070859705469,
+            766.6272068582291,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -16.49070859705469,
+            764.0291306468757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -14.990708597054692,
+            761.4310544355224,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -13.490708597054692,
+            758.832978224169,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -11.990708597054692,
+            756.2349020128156,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -10.490708597054692,
+            753.6368258014622,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -8.990708597054692,
+            751.0387495901089,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -7.490708597054692,
+            748.4406733787555,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -5.990708597054692,
+            745.8425971674021,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -4.490708597054692,
+            743.2445209560487,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -2.990708597054691,
+            740.6464447446954,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -1.4907085970546907,
+            738.048368533342,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            0.009291402945309724,
+            735.4502923219886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1.5092914029453102,
+            732.8522161106353,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            3.0092914029453106,
+            730.2541398992819,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            4.509291402945311,
+            727.6560636879285,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            6.009291402945312,
+            725.0579874765751,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196607
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            7.509291402945312,
+            722.4599112652218,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            9.009291402945312,
+            719.8618350538684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            10.509291402945312,
+            717.263758842515,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            12.009291402945312,
+            714.6656826311616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            13.509291402945312,
+            712.0676064198083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            15.009291402945312,
+            709.4695302084549,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            16.509291402945312,
+            706.8714539971015,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            16.509291402945312,
+            706.8714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            19.107367614298628,
+            705.3714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            21.705443825651944,
+            703.8714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            24.30352003700526,
+            702.3714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            26.901596248358576,
+            700.8714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            29.499672459711892,
+            699.3714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            32.097748671065204,
+            697.8714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982995
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            34.69582488241852,
+            696.3714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            37.29390109377184,
+            694.8714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            39.89197730512515,
+            693.3714539971015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            42.49005351647847,
+            691.8714539971015,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            660.0,
+            189.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-41-44_2032454154/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-41-44_2032454154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb4e6a5da146f0b97b26a6f979fb844eed80b167
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-41-44_2032454154/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            976.1246739431703,
+            -1736.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            973.526597731817,
+            -1737.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            970.9285215204636,
+            -1739.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            968.3304453091102,
+            -1740.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            965.7323690977569,
+            -1742.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            963.1342928864035,
+            -1743.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            960.5362166750501,
+            -1745.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            957.9381404636968,
+            -1746.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            955.3400642523434,
+            -1748.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            952.74198804099,
+            -1749.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            950.1439118296366,
+            -1751.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            947.5458356182833,
+            -1752.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            944.9477594069299,
+            -1754.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            942.3496831955765,
+            -1755.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            939.7516069842231,
+            -1757.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            937.1535307728698,
+            -1758.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            934.5554545615164,
+            -1760.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            931.957378350163,
+            -1761.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            929.3593021388097,
+            -1763.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            926.7612259274563,
+            -1764.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            924.1631497161029,
+            -1766.1709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            921.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            921.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            918.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            915.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            912.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            909.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            906.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            903.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            900.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            897.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            894.5650735047495,
+            -1767.6709293791564,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            844.0,
+            -1788.0,
+            165.84
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-11_811742698/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-11_811742698/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3681ea079b2fd566361f47b41206f428603150f1
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-50-11_811742698/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            122.04423749807081,
+            801.2752038900787,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            123.54423749807081,
+            798.6771276787254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            125.04423749807081,
+            796.079051467372,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            126.54423749807081,
+            793.4809752560186,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            128.04423749807083,
+            790.8828990446652,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966032
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            129.54423749807083,
+            788.2848228333119,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            131.04423749807083,
+            785.6867466219585,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            132.54423749807083,
+            783.0886704106051,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            134.04423749807083,
+            780.4905941992517,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            135.54423749807083,
+            777.8925179878984,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            137.04423749807083,
+            775.294441776545,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            138.54423749807083,
+            772.6963655651916,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            140.04423749807083,
+            770.0982893538383,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            141.54423749807083,
+            767.5002131424849,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            143.04423749807083,
+            764.9021369311315,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            144.54423749807083,
+            762.3040607197781,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            146.04423749807083,
+            759.7059845084248,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            147.54423749807083,
+            757.1079082970714,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            149.04423749807083,
+            754.509832085718,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            150.54423749807083,
+            751.9117558743646,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            152.04423749807083,
+            749.3136796630113,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            152.04423749807083,
+            749.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            152.04423749807083,
+            746.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            152.04423749807083,
+            743.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            152.04423749807083,
+            740.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            152.04423749807083,
+            737.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            152.04423749807083,
+            734.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            152.04423749807083,
+            731.3136796630113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            152.04423749807083,
+            728.3136796630113,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            708.0,
+            213.945
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-52-59_1135771559/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-52-59_1135771559/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0bbfe9d8f30eaf18da29813fe6d3426c84c64bd9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-52-59_1135771559/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            220.48753041603416,
+            -613.4953849482099,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            221.98753041603416,
+            -616.0934611595633,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            223.48753041603416,
+            -618.6915373709166,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            224.98753041603416,
+            -621.28961358227,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            226.48753041603416,
+            -623.8876897936234,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            227.98753041603416,
+            -626.4857660049768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            229.48753041603416,
+            -629.0838422163301,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            230.98753041603416,
+            -631.6819184276835,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            232.48753041603416,
+            -634.2799946390369,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            233.98753041603416,
+            -636.8780708503903,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            235.48753041603416,
+            -639.4761470617436,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            236.98753041603416,
+            -642.074223273097,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            238.48753041603416,
+            -644.6722994844504,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            239.98753041603416,
+            -647.2703756958038,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            241.48753041603416,
+            -649.8684519071571,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            242.98753041603416,
+            -652.4665281185105,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            244.48753041603416,
+            -655.0646043298639,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            245.98753041603416,
+            -657.6626805412172,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            247.48753041603416,
+            -660.2607567525706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            248.98753041603416,
+            -662.858832963924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            250.48753041603416,
+            -665.4569091752774,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            251.98753041603416,
+            -668.0549853866307,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            253.48753041603416,
+            -670.6530615979841,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            254.98753041603416,
+            -673.2511378093375,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            256.4875304160342,
+            -675.8492140206909,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196599
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            257.9875304160342,
+            -678.4472902320442,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            259.4875304160342,
+            -681.0453664433976,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            260.9875304160342,
+            -683.643442654751,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            262.4875304160342,
+            -686.2415188661043,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            263.9875304160342,
+            -688.8395950774577,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            265.4875304160342,
+            -691.4376712888111,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            266.9875304160342,
+            -694.0357475001645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            268.4875304160342,
+            -696.6338237115178,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            268.4875304160342,
+            -696.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            268.4875304160342,
+            -699.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            268.4875304160342,
+            -702.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            268.4875304160342,
+            -705.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            268.4875304160342,
+            -708.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            268.4875304160342,
+            -711.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            268.4875304160342,
+            -714.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            268.4875304160342,
+            -717.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            268.4875304160342,
+            -720.6338237115178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            268.4875304160342,
+            -723.6338237115178,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            276.0,
+            -740.0,
+            147.026
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-7-57_406011017/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-7-57_406011017/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9db46e8135934ac85d972b44fbeb1948c8d0dda0
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_18-7-57_406011017/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            98.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            101.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            104.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            107.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            110.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            113.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            116.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            119.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            122.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            125.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            128.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            131.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            134.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            137.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            140.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            143.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            146.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            149.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            152.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            155.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            158.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            161.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            164.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            167.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            170.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            173.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            176.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            176.28309086763574,
+            186.55006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            178.88116707898905,
+            185.05006977131768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            181.47924329034237,
+            183.55006977131768,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            396.289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-25-53_1745897490/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-25-53_1745897490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b78e9e701765b91aaff8935465da0a888350e3cf
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-25-53_1745897490/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            703.5682280379468,
+            -1032.302910306948,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            705.0682280379468,
+            -1034.9009865183014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            706.5682280379468,
+            -1037.4990627296547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            708.0682280379468,
+            -1040.097138941008,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            709.5682280379468,
+            -1042.6952151523615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            711.0682280379468,
+            -1045.2932913637148,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            712.5682280379468,
+            -1047.8913675750682,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            714.0682280379468,
+            -1050.4894437864216,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            715.5682280379468,
+            -1053.087519997775,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            717.0682280379468,
+            -1055.6855962091283,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            718.5682280379468,
+            -1058.2836724204817,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            720.0682280379468,
+            -1060.881748631835,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            721.5682280379468,
+            -1063.4798248431885,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            723.0682280379468,
+            -1066.0779010545418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            724.5682280379468,
+            -1068.6759772658952,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            726.0682280379468,
+            -1071.2740534772486,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            727.5682280379468,
+            -1073.872129688602,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            729.0682280379468,
+            -1076.4702058999553,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            730.5682280379468,
+            -1079.0682821113087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            732.0682280379468,
+            -1081.666358322662,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            733.5682280379468,
+            -1084.2644345340154,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            735.0682280379468,
+            -1086.8625107453688,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            736.5682280379468,
+            -1089.4605869567222,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            738.0682280379468,
+            -1092.0586631680756,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            739.5682280379468,
+            -1094.656739379429,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            741.0682280379468,
+            -1097.2548155907823,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            742.5682280379468,
+            -1099.8528918021357,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            744.0682280379468,
+            -1102.450968013489,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            745.5682280379468,
+            -1105.0490442248424,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            747.0682280379468,
+            -1107.6471204361958,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            748.5682280379468,
+            -1110.2451966475492,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            750.0682280379468,
+            -1112.8432728589025,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            751.5682280379468,
+            -1115.441349070256,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            753.0682280379468,
+            -1118.0394252816093,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            754.5682280379468,
+            -1120.6375014929627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            756.0682280379468,
+            -1123.235577704316,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            757.5682280379468,
+            -1125.8336539156694,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            759.0682280379468,
+            -1128.4317301270228,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            759.0682280379468,
+            -1128.4317301270228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            759.0682280379468,
+            -1131.4317301270228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            759.0682280379468,
+            -1134.4317301270228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            759.0682280379468,
+            -1137.4317301270228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            759.0682280379468,
+            -1140.4317301270228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            759.0682280379468,
+            -1143.4317301270228,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-27-43_1640170337/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-27-43_1640170337/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b0e0ac260210aa19b249a9178cb95d15cba9bad2
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-27-43_1640170337/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            21.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            24.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            27.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            30.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            33.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            36.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            39.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            42.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            45.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            48.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            51.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            54.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            57.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            60.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            63.858760698614134,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            66.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            69.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            72.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            75.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            78.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            81.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            84.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            87.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            90.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            93.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            96.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            99.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            102.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            105.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            108.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            111.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            111.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            111.85876069861413,
+            732.5011470474761,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            113.35876069861413,
+            729.9030708361229,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            114.85876069861413,
+            727.3049946247695,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            116.35876069861413,
+            724.7069184134161,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            117.85876069861413,
+            722.1088422020628,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            117.85876069861413,
+            722.1088422020628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            120.45683690996745,
+            720.6088422020628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            123.05491312132077,
+            719.1088422020628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            125.65298933267408,
+            717.6088422020628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            128.2510655440274,
+            716.1088422020628,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            164.0,
+            708.0,
+            213.945
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-30-14_772634225/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-30-14_772634225/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4ad16fcb99b8cf323bfd62791b97b97d685e281
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-30-14_772634225/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            253.66399729624584,
+            341.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            253.66399729624584,
+            338.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            253.66399729624584,
+            335.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            253.66399729624584,
+            332.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            253.66399729624584,
+            329.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            253.66399729624584,
+            326.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            253.66399729624584,
+            323.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            253.66399729624584,
+            320.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            253.66399729624584,
+            317.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            253.66399729624584,
+            314.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            253.66399729624584,
+            311.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            253.66399729624584,
+            308.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            253.66399729624584,
+            305.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            253.66399729624584,
+            302.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            253.66399729624584,
+            299.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            253.66399729624584,
+            296.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            253.66399729624584,
+            293.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            253.66399729624584,
+            290.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            253.66399729624584,
+            287.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            253.66399729624584,
+            284.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            253.66399729624584,
+            281.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            253.66399729624584,
+            278.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            253.66399729624584,
+            275.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            253.66399729624584,
+            272.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            253.66399729624584,
+            269.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            253.66399729624584,
+            266.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            253.66399729624584,
+            263.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            253.66399729624584,
+            260.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            253.66399729624584,
+            257.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            253.66399729624584,
+            254.05398299788226,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            253.66399729624584,
+            254.05398299788226,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            253.66399729624584,
+            254.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            251.06592108489252,
+            252.55398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            248.4678448735392,
+            251.05398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            245.8697686621859,
+            249.55398299788226,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            245.8697686621859,
+            249.55398299788226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            244.3697686621859,
+            246.95590678652894,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            242.8697686621859,
+            244.35783057517563,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            241.3697686621859,
+            241.7597543638223,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            239.8697686621859,
+            239.161678152469,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            238.3697686621859,
+            236.56360194111568,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            236.8697686621859,
+            233.96552572976236,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            235.3697686621859,
+            231.36744951840905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            233.8697686621859,
+            228.76937330705573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            232.3697686621859,
+            226.1712970957024,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            212.0,
+            376.005
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-36-59_928140528/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-36-59_928140528/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7329035c92332a371a3da5b46be1689db341caa
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-36-59_928140528/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            565.957046071374,
+            1007.8524758686732,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            567.457046071374,
+            1005.2543996573199,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            568.957046071374,
+            1002.6563234459666,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            570.457046071374,
+            1000.0582472346132,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            571.957046071374,
+            997.4601710232598,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            573.457046071374,
+            994.8620948119064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            574.957046071374,
+            992.2640186005531,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            576.457046071374,
+            989.6659423891997,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            576.457046071374,
+            989.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            579.0551222827273,
+            988.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            581.6531984940807,
+            986.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            584.2512747054341,
+            985.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            586.8493509167874,
+            983.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            589.4474271281408,
+            982.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            592.0455033394942,
+            980.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            594.6435795508476,
+            979.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            597.2416557622009,
+            977.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            599.8397319735543,
+            976.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            602.4378081849077,
+            974.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            605.035884396261,
+            973.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            607.6339606076144,
+            971.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            610.2320368189678,
+            970.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            612.8301130303212,
+            968.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            615.4281892416745,
+            967.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            618.0262654530279,
+            965.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            620.6243416643813,
+            964.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            623.2224178757347,
+            962.6659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            625.820494087088,
+            961.1659423891997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            628.4185702984414,
+            959.6659423891997,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            656.0,
+            936.0,
+            215.703
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-41-24_1031126087/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-41-24_1031126087/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e17f03a744867eadd720a034ea9e289274d07b51
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-41-24_1031126087/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            724.0856203183199,
+            -1287.7780113171227,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            725.5856203183199,
+            -1285.1799351057693,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            727.0856203183199,
+            -1282.581858894416,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            728.5856203183199,
+            -1279.9837826830626,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            730.0856203183199,
+            -1277.3857064717092,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            731.5856203183199,
+            -1274.7876302603559,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            733.0856203183199,
+            -1272.1895540490025,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            734.5856203183199,
+            -1269.591477837649,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            736.0856203183199,
+            -1266.9934016262957,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            737.5856203183199,
+            -1264.3953254149424,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            739.0856203183199,
+            -1261.797249203589,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            740.5856203183199,
+            -1259.1991729922356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            742.0856203183199,
+            -1256.6010967808822,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            743.5856203183199,
+            -1254.0030205695289,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            745.0856203183199,
+            -1251.4049443581755,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            746.5856203183199,
+            -1248.8068681468221,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            748.0856203183199,
+            -1246.2087919354688,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            749.5856203183199,
+            -1243.6107157241154,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            751.0856203183199,
+            -1241.012639512762,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            752.5856203183199,
+            -1238.4145633014086,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            754.0856203183199,
+            -1235.8164870900553,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            755.5856203183199,
+            -1233.218410878702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            757.0856203183199,
+            -1230.6203346673485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            758.5856203183199,
+            -1228.0222584559951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            760.0856203183199,
+            -1225.4241822446418,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            760.0856203183199,
+            -1225.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            760.0856203183199,
+            -1222.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            760.0856203183199,
+            -1219.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            760.0856203183199,
+            -1216.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            760.0856203183199,
+            -1213.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            760.0856203183199,
+            -1210.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            760.0856203183199,
+            -1207.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            760.0856203183199,
+            -1204.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            760.0856203183199,
+            -1201.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            760.0856203183199,
+            -1198.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            760.0856203183199,
+            -1195.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            760.0856203183199,
+            -1192.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            760.0856203183199,
+            -1189.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            760.0856203183199,
+            -1186.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            760.0856203183199,
+            -1183.4241822446418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            760.0856203183199,
+            -1180.4241822446418,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-45-5_1736491298/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-45-5_1736491298/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96ec24586ab893f16f04a5eca88a432933d5ad54
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-45-5_1736491298/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            407.7989818612283,
+            -214.90899494834363,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            409.2989818612283,
+            -212.31091873699032,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            410.7989818612283,
+            -209.712842525637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            412.2989818612283,
+            -207.11476631428368,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            413.7989818612283,
+            -204.51669010293037,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            415.2989818612283,
+            -201.91861389157705,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            416.7989818612283,
+            -199.32053768022374,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            418.2989818612283,
+            -196.72246146887042,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            419.7989818612283,
+            -194.1243852575171,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            421.2989818612283,
+            -191.5263090461638,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            422.7989818612283,
+            -188.92823283481047,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            424.2989818612283,
+            -186.33015662345716,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            425.7989818612283,
+            -183.73208041210384,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            427.2989818612283,
+            -181.13400420075052,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            427.2989818612283,
+            -181.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            429.8970580725816,
+            -179.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            432.49513428393493,
+            -178.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            435.09321049528825,
+            -176.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            437.69128670664156,
+            -175.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            440.2893629179949,
+            -173.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            442.8874391293482,
+            -172.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            445.4855153407015,
+            -170.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            448.0835915520548,
+            -169.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            450.68166776340814,
+            -167.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            453.27974397476146,
+            -166.13400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            455.8778201861148,
+            -164.63400420075052,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            455.8778201861148,
+            -164.63400420075052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            457.3778201861148,
+            -162.0359279893972,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            458.8778201861148,
+            -159.4378517780439,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            484.0,
+            -132.0,
+            149.422
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-32_2135019593/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-32_2135019593/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eaddfecc2ca8221fc84fb4bd51d943962ecbb33f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-48-32_2135019593/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            964.7318884486277,
+            -1720.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            962.1338122372745,
+            -1722.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            959.5357360259211,
+            -1723.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            956.9376598145677,
+            -1725.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            954.3395836032144,
+            -1726.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            951.741507391861,
+            -1728.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            949.1434311805076,
+            -1729.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            946.5453549691542,
+            -1731.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            943.9472787578009,
+            -1732.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            941.3492025464475,
+            -1734.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            938.7511263350941,
+            -1735.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            936.1530501237407,
+            -1737.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            933.5549739123874,
+            -1738.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            930.956897701034,
+            -1740.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            928.3588214896806,
+            -1741.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            925.7607452783272,
+            -1743.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            923.1626690669739,
+            -1744.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            920.5645928556205,
+            -1746.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            917.9665166442671,
+            -1747.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            915.3684404329138,
+            -1749.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            912.7703642215604,
+            -1750.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            910.172288010207,
+            -1752.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            907.5742117988536,
+            -1753.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            904.9761355875003,
+            -1755.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            902.3780593761469,
+            -1756.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            899.7799831647935,
+            -1758.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            897.1819069534401,
+            -1759.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            894.5838307420868,
+            -1761.201001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            891.9857545307334,
+            -1762.701001182399,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            889.38767831938,
+            -1764.201001182399,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            844.0,
+            -1788.0,
+            165.84
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-49-58_1779289672/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-49-58_1779289672/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26b0136c7fb94c2d421efd9009f44093a97d4497
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-49-58_1779289672/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            477.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            474.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            471.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            468.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            465.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            462.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            459.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            456.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            453.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            450.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            447.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            444.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            441.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            438.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            435.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            432.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            429.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            426.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            423.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            420.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            417.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            414.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            411.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            411.9382902748316,
+            837.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            409.3402140634783,
+            838.8228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            406.742137852125,
+            840.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            404.14406164077167,
+            841.8228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            401.54598542941835,
+            843.3228690895313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            398.94790921806504,
+            844.8228690895313,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            848.0,
+            180.724
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-12_870305000/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-12_870305000/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bee9a195854080ca0a83b36059ffb85e9cfc4f3a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-51-12_870305000/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            367.44655360248316,
+            591.8869168223077,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            368.94655360248316,
+            594.4849930336611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            370.44655360248316,
+            597.0830692450145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            371.94655360248316,
+            599.6811454563679,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            373.44655360248316,
+            602.2792216677212,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            374.94655360248316,
+            604.8772978790746,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            376.44655360248316,
+            607.475374090428,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            377.94655360248316,
+            610.0734503017813,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            379.44655360248316,
+            612.6715265131347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            380.94655360248316,
+            615.2696027244881,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            382.44655360248316,
+            617.8676789358415,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            383.94655360248316,
+            620.4657551471948,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            385.44655360248316,
+            623.0638313585482,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            386.94655360248316,
+            625.6619075699016,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            388.44655360248316,
+            628.259983781255,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            389.94655360248316,
+            630.8580599926083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            391.44655360248316,
+            633.4561362039617,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            391.44655360248316,
+            633.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            391.44655360248316,
+            636.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            391.44655360248316,
+            639.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            391.44655360248316,
+            642.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            391.44655360248316,
+            645.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            391.44655360248316,
+            648.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            391.44655360248316,
+            651.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            391.44655360248316,
+            654.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            391.44655360248316,
+            657.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            391.44655360248316,
+            660.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            391.44655360248316,
+            663.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            391.44655360248316,
+            666.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            391.44655360248316,
+            669.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            391.44655360248316,
+            672.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            391.44655360248316,
+            675.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            391.44655360248316,
+            678.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            391.44655360248316,
+            681.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            391.44655360248316,
+            684.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            391.44655360248316,
+            687.4561362039617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            391.44655360248316,
+            690.4561362039617,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            400.0,
+            736.0,
+            172.46
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-58-11_750167716/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-58-11_750167716/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0bc910fbf22ea7352f3b8131b69b087ab0a3f807
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_19-58-11_750167716/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            386.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            383.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            380.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            377.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            374.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            371.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            368.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            365.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            362.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            359.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            356.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            353.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            350.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            347.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            344.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            341.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            338.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            335.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            332.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            329.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            326.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            323.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            320.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            317.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            314.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            311.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            308.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            305.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            302.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            299.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            296.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            293.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            290.4836003424931,
+            777.2411586351175,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            252.0,
+            780.0,
+            191.626
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-1-3_2118801173/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-1-3_2118801173/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..929d1bd7e582544ca83055890c5e6960282102cf
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-1-3_2118801173/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            367.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            370.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            373.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            376.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            379.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            379.30105626219574,
+            562.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            381.89913247354906,
+            564.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            384.4972086849024,
+            565.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            387.0952848962557,
+            567.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            389.693361107609,
+            568.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            392.2914373189623,
+            570.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            394.88951353031564,
+            571.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            397.48758974166896,
+            573.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            400.08566595302227,
+            574.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            402.6837421643756,
+            576.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            405.2818183757289,
+            577.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            407.8798945870822,
+            579.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            410.47797079843554,
+            580.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            413.07604700978885,
+            582.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            415.67412322114217,
+            583.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            418.2721994324955,
+            585.2616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            420.8702756438488,
+            586.7616775854607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            423.4683518552021,
+            588.2616775854607,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-21-12_192532621/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-21-12_192532621/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..70bcda220f8e3bb912c094b66de40e95f2ce591b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-21-12_192532621/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            633.8549571633133,
+            399.4785603109225,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            632.3549571633133,
+            396.8804840995692,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            630.8549571633133,
+            394.28240788821586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            629.3549571633133,
+            391.68433167686254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            627.8549571633133,
+            389.0862554655092,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            626.3549571633133,
+            386.4881792541559,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            624.8549571633133,
+            383.8901030428026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            623.3549571633133,
+            381.2920268314493,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            621.8549571633133,
+            378.69395062009596,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            620.3549571633133,
+            376.09587440874265,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            618.8549571633133,
+            373.49779819738933,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            617.3549571633133,
+            370.899721986036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            615.8549571633133,
+            368.3016457746827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            614.3549571633133,
+            365.7035695633294,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            612.8549571633133,
+            363.10549335197607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            611.3549571633133,
+            360.50741714062275,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            609.8549571633133,
+            357.90934092926943,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            608.3549571633133,
+            355.3112647179161,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            606.8549571633133,
+            352.7131885065628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            605.3549571633133,
+            350.1151122952095,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            603.8549571633133,
+            347.51703608385617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            602.3549571633133,
+            344.91895987250285,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            600.8549571633133,
+            342.32088366114954,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            599.3549571633133,
+            339.7228074497962,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            597.8549571633133,
+            337.1247312384429,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            596.3549571633133,
+            334.5266550270896,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            594.8549571633133,
+            331.9285788157363,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            593.3549571633133,
+            329.33050260438296,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            591.8549571633133,
+            326.73242639302964,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            590.3549571633133,
+            324.1343501816763,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            280.0,
+            152.802
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-46-1_38649718/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-46-1_38649718/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..922d6905cd5275035ced982be440827ccbc8e55d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-46-1_38649718/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -13.973736902901635,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -10.973736902901635,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -7.973736902901635,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -4.973736902901635,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -1.973736902901635,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            4.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            7.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            10.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            13.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            16.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            16.026263097098365,
+            832.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            18.62433930845168,
+            831.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            21.222415519804997,
+            829.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            23.820491731158313,
+            828.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            26.41856794251163,
+            826.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            29.016644153864945,
+            825.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            31.61472036521826,
+            823.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            34.21279657657158,
+            822.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            36.81087278792489,
+            820.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            39.40894899927821,
+            819.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            42.007025210631525,
+            817.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            44.60510142198484,
+            816.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            47.20317763333816,
+            814.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            49.80125384469147,
+            813.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            52.39933005604479,
+            811.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            54.997406267398105,
+            810.0797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            57.59548247875142,
+            808.5797868423026,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            60.19355869010474,
+            807.0797868423026,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            796.0,
+            203.339
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-5-56_234576987/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-5-56_234576987/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbfba005e2266edaac98d51a05e5aa482524e40b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-5-56_234576987/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            687.4040262560543,
+            -1373.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            690.0021024674077,
+            -1371.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            692.600178678761,
+            -1370.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            695.1982548901144,
+            -1368.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            697.7963311014678,
+            -1367.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            700.3944073128212,
+            -1365.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            702.9924835241745,
+            -1364.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            705.5905597355279,
+            -1362.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            708.1886359468813,
+            -1361.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            710.7867121582346,
+            -1359.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            713.384788369588,
+            -1358.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            715.9828645809414,
+            -1356.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            718.5809407922948,
+            -1355.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            721.1790170036481,
+            -1353.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            723.7770932150015,
+            -1352.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            726.3751694263549,
+            -1350.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            728.9732456377083,
+            -1349.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            731.5713218490616,
+            -1347.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            734.169398060415,
+            -1346.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            736.7674742717684,
+            -1344.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            739.3655504831218,
+            -1343.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            741.9636266944751,
+            -1341.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            744.5617029058285,
+            -1340.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            747.1597791171819,
+            -1338.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            749.7578553285352,
+            -1337.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            752.3559315398886,
+            -1335.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            754.954007751242,
+            -1334.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            757.5520839625954,
+            -1332.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            760.1501601739487,
+            -1331.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            762.7482363853021,
+            -1329.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            765.3463125966555,
+            -1328.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            767.9443888080089,
+            -1326.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            770.5424650193622,
+            -1325.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            773.1405412307156,
+            -1323.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            775.738617442069,
+            -1322.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            778.3366936534223,
+            -1320.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            780.9347698647757,
+            -1319.3289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            783.5328460761291,
+            -1317.8289435734653,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            783.5328460761291,
+            -1317.8289435734653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            785.0328460761291,
+            -1315.230867362112,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            786.5328460761291,
+            -1312.6327911507585,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-1_379366797/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-1_379366797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9179534cd3a5a8de221b6aa54e1015225c7aa462
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-1_379366797/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            330.1995973900088,
+            -255.95964331138745,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            328.6995973900088,
+            -253.36156710003414,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            327.1995973900088,
+            -250.76349088868082,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            325.6995973900088,
+            -248.1654146773275,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            324.1995973900088,
+            -245.5673384659742,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            322.6995973900088,
+            -242.96926225462087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            321.1995973900088,
+            -240.37118604326756,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            319.6995973900088,
+            -237.77310983191424,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            318.1995973900088,
+            -235.17503362056092,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            316.6995973900088,
+            -232.5769574092076,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            315.1995973900088,
+            -229.9788811978543,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            313.6995973900088,
+            -227.38080498650098,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            312.1995973900088,
+            -224.78272877514766,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            310.6995973900088,
+            -222.18465256379434,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            309.1995973900088,
+            -219.58657635244103,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            307.6995973900088,
+            -216.9885001410877,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            306.1995973900088,
+            -214.3904239297344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            304.6995973900088,
+            -211.79234771838108,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            303.1995973900088,
+            -209.19427150702776,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            301.6995973900088,
+            -206.59619529567445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            300.1995973900088,
+            -203.99811908432113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            298.6995973900088,
+            -201.40004287296782,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            297.1995973900088,
+            -198.8019666616145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            295.6995973900088,
+            -196.20389045026118,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            295.6995973900088,
+            -196.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            293.1015211786555,
+            -194.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            290.5034449673022,
+            -193.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            287.90536875594887,
+            -191.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            285.30729254459555,
+            -190.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            282.70921633324224,
+            -188.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            280.1111401218889,
+            -187.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            277.5130639105356,
+            -185.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            274.9149876991823,
+            -184.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            272.316911487829,
+            -182.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            269.71883527647566,
+            -181.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            267.12075906512234,
+            -179.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            264.522682853769,
+            -178.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            261.9246066424157,
+            -176.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            259.3265304310624,
+            -175.20389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            256.7284542197091,
+            -173.70389045026118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            254.13037800835576,
+            -172.20389045026118,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            -152.0,
+            149.418
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-48_717293418/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-48_717293418/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b234c3b0a2f30d14bee03bd9562e4b80b021f36b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-50-48_717293418/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -270.9663880814776,
+            389.7926786494014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -272.4663880814776,
+            387.1946024380481,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -273.9663880814776,
+            384.5965262266948,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -275.4663880814776,
+            381.99845001534146,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -276.9663880814776,
+            379.40037380398815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -278.4663880814776,
+            376.80229759263483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -279.9663880814776,
+            374.2042213812815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -281.4663880814776,
+            371.6061451699282,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -282.9663880814776,
+            369.0080689585749,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -284.4663880814776,
+            366.40999274722157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -285.9663880814776,
+            363.81191653586825,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -287.4663880814776,
+            361.21384032451493,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -288.9663880814776,
+            358.6157641131616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -290.4663880814776,
+            356.0176879018083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -291.9663880814776,
+            353.419611690455,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -291.9663880814776,
+            353.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -291.9663880814776,
+            350.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -291.9663880814776,
+            347.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -291.9663880814776,
+            344.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -291.9663880814776,
+            341.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -291.9663880814776,
+            338.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -291.9663880814776,
+            335.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -291.9663880814776,
+            332.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -291.9663880814776,
+            329.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -291.9663880814776,
+            326.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -291.9663880814776,
+            323.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -291.9663880814776,
+            320.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -291.9663880814776,
+            317.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -291.9663880814776,
+            314.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -291.9663880814776,
+            311.419611690455,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -291.9663880814776,
+            311.419611690455,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -291.9663880814776,
+            311.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -294.5644642928309,
+            309.919611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -297.1625405041842,
+            308.419611690455,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -297.1625405041842,
+            308.419611690455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -298.6625405041842,
+            305.82153547910167,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -300.1625405041842,
+            303.22345926774835,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -301.6625405041842,
+            300.62538305639504,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -303.1625405041842,
+            298.0273068450417,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -304.6625405041842,
+            295.4292306336884,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            256.0,
+            154.563
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-52-18_52775474/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-52-18_52775474/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..72e8044154115d41287567bf805476124fd7b4a9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-52-18_52775474/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            497.01856231769267,
+            189.67066645152437,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            498.51856231769267,
+            192.26874266287768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            500.01856231769267,
+            194.866818874231,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            501.51856231769267,
+            197.46489508558432,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            503.01856231769267,
+            200.06297129693763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            504.51856231769267,
+            202.66104750829095,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            506.01856231769267,
+            205.25912371964426,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            507.51856231769267,
+            207.85719993099758,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            509.01856231769267,
+            210.4552761423509,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            510.51856231769267,
+            213.0533523537042,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            512.0185623176927,
+            215.65142856505753,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965814
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            513.5185623176927,
+            218.24950477641084,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            515.0185623176927,
+            220.84758098776416,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            516.5185623176927,
+            223.44565719911748,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            518.0185623176927,
+            226.0437334104708,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            519.5185623176927,
+            228.6418096218241,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            521.0185623176927,
+            231.23988583317742,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            522.5185623176927,
+            233.83796204453074,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            524.0185623176927,
+            236.43603825588406,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            525.5185623176927,
+            239.03411446723737,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            527.0185623176927,
+            241.6321906785907,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            528.5185623176927,
+            244.230266889944,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            528.5185623176927,
+            244.230266889944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            531.116638529046,
+            245.730266889944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            533.7147147403994,
+            247.230266889944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            536.3127909517527,
+            248.730266889944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            538.9108671631061,
+            250.230266889944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            541.5089433744595,
+            251.730266889944,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            280.0,
+            152.802
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-58-0_1812718902/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-58-0_1812718902/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..887b76a1022e39a3f6a17d2ddc7b094f6bcc6554
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-58-0_1812718902/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            856.5592791131546,
+            -1678.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            856.5592791131546,
+            -1681.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            856.5592791131546,
+            -1684.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            856.5592791131546,
+            -1687.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            856.5592791131546,
+            -1690.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            856.5592791131546,
+            -1693.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            856.5592791131546,
+            -1696.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            856.5592791131546,
+            -1699.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            856.5592791131546,
+            -1702.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            856.5592791131546,
+            -1705.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            856.5592791131546,
+            -1708.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            856.5592791131546,
+            -1711.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            856.5592791131546,
+            -1714.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            856.5592791131546,
+            -1717.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            856.5592791131546,
+            -1720.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            856.5592791131546,
+            -1723.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            856.5592791131546,
+            -1726.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            856.5592791131546,
+            -1729.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            856.5592791131546,
+            -1732.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            856.5592791131546,
+            -1735.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            856.5592791131546,
+            -1738.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            856.5592791131546,
+            -1741.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            856.5592791131546,
+            -1744.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            856.5592791131546,
+            -1747.3518767266953,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            856.5592791131546,
+            -1747.3518767266953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            855.0592791131546,
+            -1749.9499529380487,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            853.5592791131546,
+            -1752.548029149402,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            852.0592791131546,
+            -1755.1461053607554,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            850.5592791131546,
+            -1757.7441815721088,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            849.0592791131546,
+            -1760.3422577834622,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            847.5592791131546,
+            -1762.9403339948155,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            846.0592791131546,
+            -1765.538410206169,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            844.5592791131546,
+            -1768.1364864175223,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            844.0,
+            -1788.0,
+            165.84
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-6-41_342146590/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-6-41_342146590/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..26fb3c6885f448f9cbe23fe8d69ddeed7bbc302b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_20-6-41_342146590/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            461.76475226109767,
+            -886.5698393504163,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            460.26475226109767,
+            -889.1679155617696,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            458.76475226109767,
+            -891.765991773123,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            457.26475226109767,
+            -894.3640679844764,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            455.76475226109767,
+            -896.9621441958298,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            454.26475226109767,
+            -899.5602204071831,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            452.76475226109767,
+            -902.1582966185365,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            451.26475226109767,
+            -904.7563728298899,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            449.76475226109767,
+            -907.3544490412432,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            448.26475226109767,
+            -909.9525252525966,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            446.76475226109767,
+            -912.55060146395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            445.26475226109767,
+            -915.1486776753034,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            443.76475226109767,
+            -917.7467538866567,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            442.26475226109767,
+            -920.3448300980101,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            440.76475226109767,
+            -922.9429063093635,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            439.26475226109767,
+            -925.5409825207169,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            437.76475226109767,
+            -928.1390587320702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            436.26475226109767,
+            -930.7371349434236,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            434.76475226109767,
+            -933.335211154777,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            434.76475226109767,
+            -933.335211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            432.16667604974435,
+            -934.835211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            429.56859983839104,
+            -936.335211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            426.9705236270377,
+            -937.835211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            424.3724474156844,
+            -939.335211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            421.7743712043311,
+            -940.835211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            419.1762949929778,
+            -942.335211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            416.57821878162446,
+            -943.835211154777,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            413.98014257027114,
+            -945.335211154777,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            392.0,
+            -968.0,
+            143.522
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-0-7_995234140/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-0-7_995234140/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3c5363b8c40bf9aa00c8b418875a9bf2c925607d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-0-7_995234140/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            141.1835977743296,
+            544.0436436939169,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            139.6835977743296,
+            546.6417199052703,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            138.1835977743296,
+            549.2397961166237,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            136.6835977743296,
+            551.837872327977,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            135.1835977743296,
+            554.4359485393304,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            133.6835977743296,
+            557.0340247506838,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            132.1835977743296,
+            559.6321009620372,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            130.6835977743296,
+            562.2301771733905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            129.1835977743296,
+            564.8282533847439,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            127.6835977743296,
+            567.4263295960973,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            126.1835977743296,
+            570.0244058074506,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            124.6835977743296,
+            572.622482018804,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            123.1835977743296,
+            575.2205582301574,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            121.6835977743296,
+            577.8186344415108,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            120.1835977743296,
+            580.4167106528641,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            118.6835977743296,
+            583.0147868642175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            117.1835977743296,
+            585.6128630755709,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            115.6835977743296,
+            588.2109392869243,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            114.1835977743296,
+            590.8090154982776,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            112.6835977743296,
+            593.407091709631,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            111.1835977743296,
+            596.0051679209844,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            109.6835977743296,
+            598.6032441323377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            108.1835977743296,
+            601.2013203436911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            106.6835977743296,
+            603.7993965550445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            105.1835977743296,
+            606.3974727663979,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            105.1835977743296,
+            606.3974727663979,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            102.58552156297628,
+            607.8974727663979,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            99.98744535162297,
+            609.3974727663979,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            660.0,
+            189.14
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-1-1_1374600938/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-1-1_1374600938/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5a1eefea1d4a71ee9b0864232d9c066838418f17
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-1-1_1374600938/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -247.0644860857389,
+            45.911553667492385,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -245.5644860857389,
+            48.5096298788457,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -244.0644860857389,
+            51.10770609019902,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -242.5644860857389,
+            53.70578230155233,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -242.5644860857389,
+            53.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -239.9664098743856,
+            55.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -237.36833366303227,
+            56.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -234.77025745167896,
+            58.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -232.17218124032564,
+            59.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -229.57410502897233,
+            61.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -226.976028817619,
+            62.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -224.3779526062657,
+            64.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -221.77987639491238,
+            65.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -219.18180018355906,
+            67.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -216.58372397220575,
+            68.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -213.98564776085243,
+            70.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -211.3875715494991,
+            71.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -208.7894953381458,
+            73.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -206.19141912679248,
+            74.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -203.59334291543917,
+            76.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -200.99526670408585,
+            77.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -198.39719049273253,
+            79.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -195.79911428137922,
+            80.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -193.2010380700259,
+            82.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -190.6029618586726,
+            83.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -188.00488564731927,
+            85.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -185.40680943596595,
+            86.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -182.80873322461264,
+            88.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -180.21065701325932,
+            89.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -177.612580801906,
+            91.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -175.0145045905527,
+            92.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -172.41642837919937,
+            94.20578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -169.81835216784606,
+            95.70578230155233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -167.22027595649274,
+            97.20578230155233,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-15-51_1698487330/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-15-51_1698487330/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4294a483054c6c352e0a74c022417e75c10dc9d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-15-51_1698487330/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            161.10606646934187,
+            -255.35742173354544,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            162.60606646934187,
+            -252.75934552219212,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            164.10606646934187,
+            -250.1612693108388,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            165.60606646934187,
+            -247.5631930994855,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            167.10606646934187,
+            -244.96511688813217,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            168.60606646934187,
+            -242.36704067677886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            170.10606646934187,
+            -239.76896446542554,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            171.60606646934187,
+            -237.17088825407222,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            173.10606646934187,
+            -234.5728120427189,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            174.60606646934187,
+            -231.9747358313656,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            174.60606646934187,
+            -231.9747358313656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            177.20414268069518,
+            -230.4747358313656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            179.8022188920485,
+            -228.9747358313656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            182.40029510340182,
+            -227.4747358313656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            184.99837131475513,
+            -225.9747358313656,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            184.99837131475513,
+            -225.9747358313656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            186.49837131475513,
+            -223.37665962001228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            187.99837131475513,
+            -220.77858340865896,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            189.49837131475513,
+            -218.18050719730564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            190.99837131475513,
+            -215.58243098595233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            192.49837131475513,
+            -212.984354774599,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            193.99837131475513,
+            -210.3862785632457,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            195.49837131475513,
+            -207.78820235189238,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            196.99837131475513,
+            -205.19012614053906,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            198.49837131475513,
+            -202.59204992918575,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            199.99837131475513,
+            -199.99397371783243,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            201.49837131475513,
+            -197.39589750647912,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            202.99837131475513,
+            -194.7978212951258,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            204.49837131475513,
+            -192.19974508377248,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            205.99837131475513,
+            -189.60166887241917,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            207.49837131475513,
+            -187.00359266106585,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            208.99837131475513,
+            -184.40551644971254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            210.49837131475513,
+            -181.80744023835922,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            211.99837131475513,
+            -179.2093640270059,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            213.49837131475513,
+            -176.6112878156526,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            214.99837131475513,
+            -174.01321160429927,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            -152.0,
+            149.418
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-15_272312086/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-15_272312086/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7c8452f277eacadfb959a33361cf16a0b38bbc7
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-15_272312086/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -360.53321811021664,
+            895.0606464659446,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -359.03321811021664,
+            892.4625702545914,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -357.53321811021664,
+            889.864494043238,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -356.03321811021664,
+            887.2664178318846,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -354.53321811021664,
+            884.6683416205312,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -353.03321811021664,
+            882.0702654091779,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -351.53321811021664,
+            879.4721891978245,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -350.03321811021664,
+            876.8741129864711,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -348.53321811021664,
+            874.2760367751177,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -347.03321811021664,
+            871.6779605637644,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -345.53321811021664,
+            869.079884352411,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -344.03321811021664,
+            866.4818081410576,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -342.53321811021664,
+            863.8837319297043,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -341.03321811021664,
+            861.2856557183509,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -339.53321811021664,
+            858.6875795069975,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -338.03321811021664,
+            856.0895032956441,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -336.53321811021664,
+            853.4914270842908,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -335.03321811021664,
+            850.8933508729374,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -333.53321811021664,
+            848.295274661584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -332.03321811021664,
+            845.6971984502306,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -330.53321811021664,
+            843.0991222388773,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -330.53321811021664,
+            843.0991222388773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -327.9351418988633,
+            841.5991222388773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -325.33706568751,
+            840.0991222388773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -322.7389894761567,
+            838.5991222388773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -320.1409132648034,
+            837.0991222388773,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -317.54283705345006,
+            835.5991222388773,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -272.0,
+            780.0,
+            338.618
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-34_359147515/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-34_359147515/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d55a53b7d27ccafb7821c39f75a08a732110f732
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-16-34_359147515/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            276.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            279.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            282.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            285.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            288.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            291.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            294.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            297.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            300.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            303.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            306.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            309.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            312.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            315.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            315.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            315.8224326905988,
+            -181.1162741468951,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            317.3224326905988,
+            -178.5181979355418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            318.8224326905988,
+            -175.92012172418848,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            320.3224326905988,
+            -173.32204551283516,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            320.3224326905988,
+            -173.32204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            322.92050890195213,
+            -171.82204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            325.51858511330545,
+            -170.32204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            328.11666132465876,
+            -168.82204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            330.7147375360121,
+            -167.32204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            333.3128137473654,
+            -165.82204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            335.9108899587187,
+            -164.32204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            338.50896617007203,
+            -162.82204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            341.10704238142534,
+            -161.32204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            343.70511859277866,
+            -159.82204551283516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            346.303194804132,
+            -158.32204551283516,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            376.0,
+            -152.0,
+            151.354
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-17-27_1195950186/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-17-27_1195950186/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30676bba0fe535cb7bc8f13245ef04fe439ec583
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-17-27_1195950186/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            251.52313276250402,
+            1109.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            248.9250565511507,
+            1107.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            246.3269803397974,
+            1106.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            243.72890412844407,
+            1104.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            241.13082791709076,
+            1103.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            238.53275170573744,
+            1101.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            235.93467549438412,
+            1100.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            233.3365992830308,
+            1098.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            230.7385230716775,
+            1097.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            228.14044686032418,
+            1095.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            225.54237064897086,
+            1094.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            222.94429443761754,
+            1092.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            220.34621822626423,
+            1091.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            217.7481420149109,
+            1089.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            215.1500658035576,
+            1088.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            212.55198959220428,
+            1086.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            209.95391338085096,
+            1085.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            207.35583716949765,
+            1083.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            204.75776095814433,
+            1082.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            202.15968474679102,
+            1080.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            199.5616085354377,
+            1079.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            196.96353232408438,
+            1077.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            194.36545611273107,
+            1076.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            191.76737990137775,
+            1074.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            189.16930369002444,
+            1073.2543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            186.57122747867112,
+            1071.7543573782052,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            186.57122747867112,
+            1071.7543573782052,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            185.07122747867112,
+            1069.1562811668518,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            183.57122747867112,
+            1066.5582049554985,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            182.07122747867112,
+            1063.960128744145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            180.57122747867112,
+            1061.3620525327917,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            179.07122747867112,
+            1058.7639763214383,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            177.57122747867112,
+            1056.165900110085,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            176.07122747867112,
+            1053.5678238987316,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            174.57122747867112,
+            1050.9697476873782,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            173.07122747867112,
+            1048.3716714760249,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            171.57122747867112,
+            1045.7735952646715,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            170.07122747867112,
+            1043.175519053318,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            144.0,
+            1020.0,
+            145.009
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-20-58_1692786742/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-20-58_1692786742/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a7fcba24e245aa095ce54c6331caa8df8069182
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-20-58_1692786742/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -16.095672792366244,
+            166.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -18.69374900371956,
+            164.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -21.291825215072876,
+            163.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -23.889901426426192,
+            161.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -26.487977637779508,
+            160.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -29.086053849132824,
+            158.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -31.68413006048614,
+            157.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -34.282206271839456,
+            155.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -36.88028248319277,
+            154.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -39.47835869454609,
+            152.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -42.076434905899404,
+            151.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -44.67451111725272,
+            149.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -47.272587328606036,
+            148.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -49.87066353995935,
+            146.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -52.46873975131267,
+            145.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -55.066815962665984,
+            143.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -57.6648921740193,
+            142.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -60.262968385372616,
+            140.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -62.86104459672593,
+            139.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -65.45912080807925,
+            137.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -68.05719701943256,
+            136.34459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -70.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -70.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -73.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -76.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -79.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -82.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -85.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -88.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -91.65527323078588,
+            134.84459040576584,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-26-14_2002992734/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-26-14_2002992734/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..093f95e5822725660bcae42311de39e6f03b5f13
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-26-14_2002992734/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            333.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            336.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            339.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            342.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            345.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            348.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            351.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            354.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            357.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            360.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            363.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            366.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            369.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            372.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            375.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            378.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            381.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            384.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            387.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            390.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            393.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            396.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            399.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            402.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            405.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            405.3480536068344,
+            596.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            407.9461298181877,
+            597.6594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            410.54420602954104,
+            599.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            413.14228224089436,
+            600.6594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            415.7403584522477,
+            602.1594744703001,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            418.338434663601,
+            603.6594744703001,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-15_883799426/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-15_883799426/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5440a2ff83310efabad837e238eda7553c09c55
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-15_883799426/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            972.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            969.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            966.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            963.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            960.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            957.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            954.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            951.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            948.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            945.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            942.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            939.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            936.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            933.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            930.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            927.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            924.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            921.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            918.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            915.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            912.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            909.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            906.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            903.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            900.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            897.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            897.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            897.3632989968838,
+            -1792.6701826563356,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            895.8632989968838,
+            -1795.268258867689,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            894.3632989968838,
+            -1797.8663350790423,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            892.8632989968838,
+            -1800.4644112903957,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            892.8632989968838,
+            -1800.4644112903957,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            890.2652227855306,
+            -1801.9644112903957,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            -1808.0,
+            165.105
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-36_1286966948/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-36_1286966948/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe6c5c94957927966e0c059886ce2d7e5326e3ca
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-41-36_1286966948/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            645.083800435368,
+            701.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            642.4857242240146,
+            699.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            639.8876480126612,
+            698.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            637.2895718013078,
+            696.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            634.6914955899545,
+            695.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            632.0934193786011,
+            693.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            629.4953431672477,
+            692.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            626.8972669558943,
+            690.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            624.299190744541,
+            689.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            621.7011145331876,
+            687.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            619.1030383218342,
+            686.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            616.5049621104808,
+            684.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            613.9068858991275,
+            683.0253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            611.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            611.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            608.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            605.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            602.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            599.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            596.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            593.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            590.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            587.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            584.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            581.3088096877741,
+            681.5253114508905,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            668.0,
+            143.189
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-19_2016408437/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-19_2016408437/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c3370eabac5ca8525dc9c340340009eca6911e5
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-47-19_2016408437/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            558.6806669710992,
+            -216.21294656549603,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            557.1806669710992,
+            -213.6148703541427,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            555.6806669710992,
+            -211.0167941427894,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            554.1806669710992,
+            -208.41871793143608,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            552.6806669710992,
+            -205.82064172008276,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            551.1806669710992,
+            -203.22256550872945,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            549.6806669710992,
+            -200.62448929737613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            548.1806669710992,
+            -198.0264130860228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            546.6806669710992,
+            -195.4283368746695,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            545.1806669710992,
+            -192.83026066331618,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            543.6806669710992,
+            -190.23218445196287,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            542.1806669710992,
+            -187.63410824060955,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            540.6806669710992,
+            -185.03603202925623,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            539.1806669710992,
+            -182.43795581790292,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            537.6806669710992,
+            -179.8398796065496,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            536.1806669710992,
+            -177.24180339519629,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            534.6806669710992,
+            -174.64372718384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            533.1806669710992,
+            -172.04565097248965,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            531.6806669710992,
+            -169.44757476113634,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            530.1806669710992,
+            -166.84949854978302,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            528.6806669710992,
+            -164.2514223384297,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            528.6806669710992,
+            -164.2514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            526.0825907597459,
+            -162.7514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            523.4845145483926,
+            -161.2514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            520.8864383370392,
+            -159.7514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            518.2883621256858,
+            -158.2514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            515.6902859143324,
+            -156.7514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            513.0922097029791,
+            -155.2514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            510.49413349162575,
+            -153.7514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            507.89605728027243,
+            -152.2514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            505.2979810689191,
+            -150.7514223384297,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            502.6999048575658,
+            -149.2514223384297,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            484.0,
+            -132.0,
+            149.422
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-50-16_724025165/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-50-16_724025165/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..74d01702c8e72c24879c1b13e92450d3b4d8bd92
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-50-16_724025165/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            724.5858546183958,
+            -1206.8324160431794,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            723.0858546183958,
+            -1204.234339831826,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            721.5858546183958,
+            -1201.6362636204726,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            720.0858546183958,
+            -1199.0381874091192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            718.5858546183958,
+            -1196.4401111977659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            717.0858546183958,
+            -1193.8420349864125,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            715.5858546183958,
+            -1191.2439587750591,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            714.0858546183958,
+            -1188.6458825637058,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            712.5858546183958,
+            -1186.0478063523524,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            711.0858546183958,
+            -1183.449730140999,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            711.0858546183958,
+            -1183.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            711.0858546183958,
+            -1180.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            711.0858546183958,
+            -1177.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            711.0858546183958,
+            -1174.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            711.0858546183958,
+            -1171.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            711.0858546183958,
+            -1168.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            711.0858546183958,
+            -1165.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            711.0858546183958,
+            -1162.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            711.0858546183958,
+            -1159.449730140999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            711.0858546183958,
+            -1156.449730140999,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -1108.0,
+            165.103
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-54-4_839425676/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-54-4_839425676/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..052c9bd3c493f694d35c6fc5369b87ebb6c31016
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-54-4_839425676/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            244.14099931009696,
+            292.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            244.14099931009696,
+            289.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            244.14099931009696,
+            286.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            244.14099931009696,
+            283.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            244.14099931009696,
+            280.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            244.14099931009696,
+            277.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            244.14099931009696,
+            274.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            244.14099931009696,
+            271.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            244.14099931009696,
+            268.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            244.14099931009696,
+            265.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            244.14099931009696,
+            262.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            244.14099931009696,
+            259.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            244.14099931009696,
+            256.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            244.14099931009696,
+            253.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            244.14099931009696,
+            250.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            244.14099931009696,
+            247.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            244.14099931009696,
+            244.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            244.14099931009696,
+            241.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            244.14099931009696,
+            238.8960270250991,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            244.14099931009696,
+            238.8960270250991,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            242.64099931009696,
+            236.29795081374579,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            241.14099931009696,
+            233.69987460239247,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            239.64099931009696,
+            231.10179839103915,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            238.14099931009696,
+            228.50372217968584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            236.64099931009696,
+            225.90564596833252,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            396.289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-59-15_2081362124/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-59-15_2081362124/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..096974e6664c91cc09e2c8e3a4882895f89ce6b8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_21-59-15_2081362124/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            173.51645258224164,
+            110.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            173.51645258224164,
+            113.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            173.51645258224164,
+            116.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            173.51645258224164,
+            119.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            173.51645258224164,
+            122.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            173.51645258224164,
+            125.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            173.51645258224164,
+            128.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            173.51645258224164,
+            131.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            173.51645258224164,
+            134.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            173.51645258224164,
+            137.18911453349344,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            173.51645258224164,
+            137.18911453349344,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            175.01645258224164,
+            139.78719074484675,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            176.51645258224164,
+            142.38526695620007,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            178.01645258224164,
+            144.9833431675534,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            179.51645258224164,
+            147.5814193789067,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            181.01645258224164,
+            150.17949559026002,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            182.51645258224164,
+            152.77757180161333,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            184.01645258224164,
+            155.37564801296665,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            185.51645258224164,
+            157.97372422431997,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            187.01645258224164,
+            160.57180043567328,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            200.0,
+            216.0,
+            361.985
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-10-49_30387226/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-10-49_30387226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..692e4fe0faeae243736aad10ff297efcc5a17146
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-10-49_30387226/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -229.75183918094052,
+            210.78514330860736,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -228.25183918094052,
+            208.18706709725404,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -226.75183918094052,
+            205.58899088590073,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -225.25183918094052,
+            202.9909146745474,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -223.75183918094052,
+            200.3928384631941,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -222.25183918094052,
+            197.79476225184078,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -220.75183918094052,
+            195.19668604048746,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -219.25183918094052,
+            192.59860982913415,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -217.75183918094052,
+            190.00053361778083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -216.25183918094052,
+            187.40245740642752,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -214.75183918094052,
+            184.8043811950742,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -213.25183918094052,
+            182.20630498372088,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -211.75183918094052,
+            179.60822877236757,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -211.75183918094052,
+            179.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -209.1537629695872,
+            178.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -206.5556867582339,
+            176.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -203.95761054688057,
+            175.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -201.35953433552726,
+            173.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -198.76145812417394,
+            172.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -196.16338191282063,
+            170.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -193.5653057014673,
+            169.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -190.967229490114,
+            167.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -188.36915327876068,
+            166.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -185.77107706740736,
+            164.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -183.17300085605405,
+            163.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -180.57492464470073,
+            161.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -177.9768484333474,
+            160.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -175.3787722219941,
+            158.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -172.78069601064078,
+            157.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -170.18261979928747,
+            155.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -167.58454358793415,
+            154.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -164.98646737658083,
+            152.60822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -162.38839116522752,
+            151.10822877236757,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -162.38839116522752,
+            151.10822877236757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -160.88839116522752,
+            148.51015256101425,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -159.38839116522752,
+            145.91207634966094,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -157.88839116522752,
+            143.31400013830762,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -156.38839116522752,
+            140.7159239269543,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -154.88839116522752,
+            138.117847715601,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -153.38839116522752,
+            135.51977150424767,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-11-39_956134158/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-11-39_956134158/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f36d861c650a81a66c8b483257257d4f0bda497
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-11-39_956134158/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            781.6244775708606,
+            -1014.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            779.0264013595072,
+            -1015.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            776.4283251481538,
+            -1017.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            773.8302489368004,
+            -1018.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            771.2321727254471,
+            -1020.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            768.6340965140937,
+            -1021.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            766.0360203027403,
+            -1023.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            763.437944091387,
+            -1024.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            760.8398678800336,
+            -1026.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            758.2417916686802,
+            -1027.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            755.6437154573268,
+            -1029.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            753.0456392459735,
+            -1030.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            750.4475630346201,
+            -1032.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            747.8494868232667,
+            -1033.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            745.2514106119133,
+            -1035.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            742.65333440056,
+            -1036.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            740.0552581892066,
+            -1038.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            737.4571819778532,
+            -1039.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            734.8591057664999,
+            -1041.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            732.2610295551465,
+            -1042.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            729.6629533437931,
+            -1044.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            727.0648771324397,
+            -1045.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            724.4668009210864,
+            -1047.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            721.868724709733,
+            -1048.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            719.2706484983796,
+            -1050.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            716.6725722870262,
+            -1051.6599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            714.0744960756729,
+            -1053.1599162151024,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            714.0744960756729,
+            -1053.1599162151024,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            712.5744960756729,
+            -1055.7579924264558,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            711.0744960756729,
+            -1058.3560686378091,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            709.5744960756729,
+            -1060.9541448491625,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            708.0744960756729,
+            -1063.5522210605159,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            706.5744960756729,
+            -1066.1502972718692,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            705.0744960756729,
+            -1068.7483734832226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            703.5744960756729,
+            -1071.346449694576,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            702.0744960756729,
+            -1073.9445259059294,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            684.0,
+            -1088.0,
+            165.83
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-19-14_858829294/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-19-14_858829294/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7afa6028f0052850738b81143b624b58cf109832
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-19-14_858829294/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            170.40944180955418,
+            280.3029403397187,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            171.90944180955418,
+            277.7048641283654,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            173.40944180955418,
+            275.10678791701207,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            174.90944180955418,
+            272.50871170565875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            176.40944180955418,
+            269.91063549430544,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            177.90944180955418,
+            267.3125592829521,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            179.40944180955418,
+            264.7144830715988,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            180.90944180955418,
+            262.1164068602455,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            182.40944180955418,
+            259.5183306488922,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            183.90944180955418,
+            256.92025443753886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            185.40944180955418,
+            254.32217822618554,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            186.90944180955418,
+            251.72410201483223,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            188.40944180955418,
+            249.1260258034789,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            189.90944180955418,
+            246.5279495921256,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            191.40944180955418,
+            243.92987338077228,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            192.90944180955418,
+            241.33179716941896,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            194.40944180955418,
+            238.73372095806565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            195.90944180955418,
+            236.13564474671233,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            197.40944180955418,
+            233.53756853535901,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            198.90944180955418,
+            230.9394923240057,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            200.40944180955418,
+            228.34141611265238,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            396.289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-51_2025251990/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-51_2025251990/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2112436607b68893224802d6cd31182b5d76be2f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-22-51_2025251990/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            922.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            919.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            916.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            913.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            910.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            907.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            904.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            901.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            898.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            895.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            892.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            889.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            886.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            883.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            880.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            877.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            874.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            871.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            868.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            865.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            862.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            859.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            856.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            853.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            850.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            847.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            844.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            841.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            838.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            835.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            835.5944366824269,
+            -1296.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            832.9963604710736,
+            -1297.888201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            830.3982842597202,
+            -1299.388201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            827.8002080483668,
+            -1300.888201362645,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            825.2021318370134,
+            -1302.388201362645,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-30-52_1221389873/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-30-52_1221389873/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3704e5c8fdf37b8fdd282aa92be3cd702d202e5b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-30-52_1221389873/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            822.7067486694561,
+            -1272.3661247587906,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            821.2067486694561,
+            -1269.7680485474373,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            819.7067486694561,
+            -1267.169972336084,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            818.2067486694561,
+            -1264.5718961247305,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            816.7067486694561,
+            -1261.9738199133772,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            815.2067486694561,
+            -1259.3757437020238,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            813.7067486694561,
+            -1256.7776674906704,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            812.2067486694561,
+            -1254.179591279317,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            810.7067486694561,
+            -1251.5815150679637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            809.2067486694561,
+            -1248.9834388566103,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            807.7067486694561,
+            -1246.385362645257,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            806.2067486694561,
+            -1243.7872864339035,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            804.7067486694561,
+            -1241.1892102225502,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            803.2067486694561,
+            -1238.5911340111968,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            803.2067486694561,
+            -1238.5911340111968,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            803.2067486694561,
+            -1235.5911340111968,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            803.2067486694561,
+            -1232.5911340111968,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-31-50_2133584523/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-31-50_2133584523/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d12ee957cf1f171cc3dea8b9c7ec43105d2bc6f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-31-50_2133584523/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            123.90174403826624,
+            926.286109051271,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            122.40174403826624,
+            923.6880328399177,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            120.90174403826624,
+            921.0899566285643,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            119.40174403826624,
+            918.491880417211,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            117.90174403826624,
+            915.8938042058576,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            116.40174403826624,
+            913.2957279945042,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            114.90174403826624,
+            910.6976517831508,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            113.40174403826624,
+            908.0995755717975,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            111.90174403826624,
+            905.5014993604441,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            110.40174403826624,
+            902.9034231490907,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            108.90174403826624,
+            900.3053469377373,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            107.40174403826624,
+            897.707270726384,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            105.90174403826624,
+            895.1091945150306,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            104.40174403826624,
+            892.5111183036772,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            102.90174403826624,
+            889.9130420923238,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            101.40174403826624,
+            887.3149658809705,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            99.90174403826624,
+            884.7168896696171,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            98.40174403826624,
+            882.1188134582637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            96.90174403826624,
+            879.5207372469104,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            95.40174403826624,
+            876.922661035557,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            93.90174403826624,
+            874.3245848242036,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            93.90174403826624,
+            874.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            93.90174403826624,
+            871.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            93.90174403826624,
+            868.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            93.90174403826624,
+            865.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            93.90174403826624,
+            862.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            93.90174403826624,
+            859.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            93.90174403826624,
+            856.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            93.90174403826624,
+            853.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            93.90174403826624,
+            850.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            93.90174403826624,
+            847.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            93.90174403826624,
+            844.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            93.90174403826624,
+            841.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            93.90174403826624,
+            838.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            93.90174403826624,
+            835.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            93.90174403826624,
+            832.3245848242036,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            93.90174403826624,
+            829.3245848242036,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            796.0,
+            203.339
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-58_1114646704/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-58_1114646704/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..164206a6ddfd2dfbae363db73f00ddafaf65d5d8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-33-58_1114646704/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            9.525849697840314,
+            -69.91219508345087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            11.025849697840314,
+            -72.51027129480418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            12.525849697840314,
+            -75.1083475061575,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            14.025849697840314,
+            -77.70642371751082,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            15.525849697840314,
+            -80.30449992886413,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            17.025849697840314,
+            -82.90257614021745,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            18.525849697840314,
+            -85.50065235157076,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            20.025849697840314,
+            -88.09872856292408,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            21.525849697840314,
+            -90.6968047742774,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            23.025849697840314,
+            -93.29488098563071,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            24.525849697840314,
+            -95.89295719698403,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            26.025849697840314,
+            -98.49103340833734,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            26.025849697840314,
+            -98.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            28.62392590919363,
+            -99.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            31.222002120546946,
+            -101.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            33.82007833190026,
+            -102.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            36.41815454325358,
+            -104.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            39.016230754606894,
+            -105.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            41.61430696596021,
+            -107.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            44.21238317731353,
+            -108.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            46.81045938866684,
+            -110.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            49.40853560002016,
+            -111.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            52.006611811373475,
+            -113.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            54.60468802272679,
+            -114.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            57.20276423408011,
+            -116.49103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            59.80084044543342,
+            -117.99103340833734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            62.39891665678674,
+            -119.49103340833734,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -140.0,
+            151.491
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-36-54_99568484/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-36-54_99568484/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..39cf8f0e629d58cc0cb3964c87e7fb6da38acae6
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-36-54_99568484/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            340.91575316747844,
+            249.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            338.3176769561251,
+            247.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            335.7196007447718,
+            246.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            333.1215245334185,
+            244.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            330.5234483220652,
+            243.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            327.92537211071186,
+            241.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            325.32729589935855,
+            240.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            322.72921968800523,
+            238.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            320.1311434766519,
+            237.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            317.5330672652986,
+            235.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            314.9349910539453,
+            234.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            312.33691484259197,
+            232.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            309.73883863123865,
+            231.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            307.14076241988533,
+            229.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            304.542686208532,
+            228.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            301.9446099971787,
+            226.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            299.3465337858254,
+            225.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            296.74845757447207,
+            223.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            294.15038136311875,
+            222.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            291.55230515176544,
+            220.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            288.9542289404121,
+            219.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            286.3561527290588,
+            217.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            283.7580765177055,
+            216.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            281.1600003063522,
+            214.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            278.56192409499886,
+            213.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            275.96384788364554,
+            211.8383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            273.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            273.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            270.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            267.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            264.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            261.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            258.3657716722922,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            255.36577167229223,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            252.36577167229223,
+            210.3383521909014,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            216.0,
+            196.0,
+            446.603
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-37-43_107939561/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-37-43_107939561/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..23c2f0f32a87f38273fc6bdfca6fec09455ecef2
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-37-43_107939561/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            138.5472831723866,
+            495.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            135.9492069610333,
+            496.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            133.35113074967998,
+            498.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            130.75305453832667,
+            499.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            128.15497832697335,
+            501.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            125.55690211562003,
+            502.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            122.95882590426672,
+            504.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            120.3607496929134,
+            505.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            117.76267348156009,
+            507.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            115.16459727020677,
+            508.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            112.56652105885345,
+            510.34055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            109.96844484750014,
+            511.84055719095875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            107.37036863614682,
+            513.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            104.7722924247935,
+            514.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            102.17421621344019,
+            516.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            99.57614000208687,
+            517.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            96.97806379073356,
+            519.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            94.37998757938024,
+            520.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            91.78191136802693,
+            522.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            89.18383515667361,
+            523.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            86.5857589453203,
+            525.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            83.98768273396698,
+            526.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            81.38960652261366,
+            528.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            78.79153031126035,
+            529.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            76.19345409990703,
+            531.3405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            73.59537788855371,
+            532.8405571909587,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            73.59537788855371,
+            532.8405571909587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            72.09537788855371,
+            535.438633402312,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            70.59537788855371,
+            538.0367096136654,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            69.09537788855371,
+            540.6347858250188,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            67.59537788855371,
+            543.2328620363721,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            66.09537788855371,
+            545.8309382477255,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            64.59537788855371,
+            548.4290144590789,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            63.09537788855371,
+            551.0270906704322,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            61.59537788855371,
+            553.6251668817856,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            60.09537788855371,
+            556.223243093139,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            58.59537788855371,
+            558.8213193044924,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            36.0,
+            576.0,
+            235.275
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-40-32_464837581/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-40-32_464837581/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..96bb6de3484c1aa24f133b34f4549f0225abf9ee
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-40-32_464837581/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            319.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            322.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            325.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            328.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            331.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            334.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            334.3515671868006,
+            877.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            336.9496433981539,
+            879.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            339.5477196095072,
+            880.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            342.14579582086054,
+            882.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            344.74387203221386,
+            883.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            347.3419482435672,
+            885.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            349.9400244549205,
+            886.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            352.5381006662738,
+            888.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            355.1361768776271,
+            889.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            357.73425308898044,
+            891.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            360.33232930033375,
+            892.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            362.93040551168707,
+            894.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            365.5284817230404,
+            895.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            368.1265579343937,
+            897.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            370.724634145747,
+            898.9049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            373.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            373.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            376.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            379.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            382.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            385.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            388.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            391.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            394.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            397.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            400.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            403.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            406.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            409.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            412.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            415.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            418.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            421.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            424.32271035710033,
+            900.4049441353087,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            452.0,
+            904.0,
+            171.245
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-21_764851988/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-21_764851988/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3db27d27195dd83ff12c9c26fb2b435c50686813
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-43-21_764851988/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            952.203137498129,
+            -1589.1233385718178,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            950.703137498129,
+            -1591.7214147831712,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            949.203137498129,
+            -1594.3194909945246,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            947.703137498129,
+            -1596.917567205878,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            946.203137498129,
+            -1599.5156434172313,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            944.703137498129,
+            -1602.1137196285847,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            943.203137498129,
+            -1604.711795839938,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            941.703137498129,
+            -1607.3098720512914,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            940.203137498129,
+            -1609.9079482626448,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            938.703137498129,
+            -1612.5060244739982,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            937.203137498129,
+            -1615.1041006853516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            935.703137498129,
+            -1617.702176896705,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            934.203137498129,
+            -1620.3002531080583,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            932.703137498129,
+            -1622.8983293194117,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            931.203137498129,
+            -1625.496405530765,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            929.703137498129,
+            -1628.0944817421184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            928.203137498129,
+            -1630.6925579534718,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            926.703137498129,
+            -1633.2906341648252,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            925.203137498129,
+            -1635.8887103761786,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            923.703137498129,
+            -1638.486786587532,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            922.203137498129,
+            -1641.0848627988853,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            920.703137498129,
+            -1643.6829390102387,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            919.203137498129,
+            -1646.281015221592,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            917.703137498129,
+            -1648.8790914329454,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            916.203137498129,
+            -1651.4771676442988,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            914.703137498129,
+            -1654.0752438556522,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            913.203137498129,
+            -1656.6733200670055,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            896.0,
+            -1688.0,
+            168.713
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-46-43_1060494695/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-46-43_1060494695/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7f0ab396efe32bc22fc509d7265a3807f8bcd35d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-46-43_1060494695/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            397.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            400.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            403.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            406.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            409.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            412.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            415.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            418.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            421.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            424.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            427.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            430.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            433.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            436.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            439.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            442.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            445.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            445.39422092754137,
+            488.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            447.9922971388947,
+            490.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            450.590373350248,
+            491.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            453.1884495616013,
+            493.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            455.78652577295463,
+            494.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            458.38460198430795,
+            496.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            460.98267819566126,
+            497.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            463.5807544070146,
+            499.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            466.1788306183679,
+            500.61646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            468.7769068297212,
+            502.11646727909107,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            468.7769068297212,
+            502.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            471.7769068297212,
+            502.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            474.7769068297212,
+            502.11646727909107,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            477.7769068297212,
+            502.11646727909107,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            500.0,
+            508.0,
+            153.926
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-57-18_599529154/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-57-18_599529154/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90ac6c135eb381577a5322f34469fe0759cb31a4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_22-57-18_599529154/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            473.893056742693,
+            -279.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            473.893056742693,
+            -276.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            473.893056742693,
+            -273.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            473.893056742693,
+            -270.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            473.893056742693,
+            -267.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            473.893056742693,
+            -264.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            473.893056742693,
+            -261.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            473.893056742693,
+            -258.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            473.893056742693,
+            -255.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            473.893056742693,
+            -252.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            473.893056742693,
+            -249.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            473.893056742693,
+            -246.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            473.893056742693,
+            -243.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            473.893056742693,
+            -240.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            473.893056742693,
+            -237.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            473.893056742693,
+            -234.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            473.893056742693,
+            -231.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            473.893056742693,
+            -228.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            473.893056742693,
+            -225.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            473.893056742693,
+            -222.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            473.893056742693,
+            -219.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            473.893056742693,
+            -216.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            473.893056742693,
+            -213.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            473.893056742693,
+            -210.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            473.893056742693,
+            -207.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            473.893056742693,
+            -204.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            473.893056742693,
+            -201.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            473.893056742693,
+            -198.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            473.893056742693,
+            -195.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            473.893056742693,
+            -192.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            473.893056742693,
+            -189.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            473.893056742693,
+            -186.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            473.893056742693,
+            -183.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            473.893056742693,
+            -180.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            473.893056742693,
+            -177.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            473.893056742693,
+            -174.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            473.893056742693,
+            -171.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            473.893056742693,
+            -168.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            473.893056742693,
+            -165.0586308169478,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            473.893056742693,
+            -165.0586308169478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            475.393056742693,
+            -162.4605546055945,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            476.893056742693,
+            -159.86247839424118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            478.393056742693,
+            -157.26440218288786,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            479.893056742693,
+            -154.66632597153455,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            484.0,
+            -132.0,
+            149.422
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-13-2_1750829613/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-13-2_1750829613/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1415e625cfb9331ca2ad7e92f7913fc64a72c7af
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-13-2_1750829613/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            173.9688791281723,
+            314.4858575390649,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            176.5669553395256,
+            312.9858575390649,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            179.16503155087892,
+            311.4858575390649,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            179.16503155087892,
+            311.4858575390649,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            180.66503155087892,
+            308.8877813277116,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            182.16503155087892,
+            306.2897051163583,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            183.66503155087892,
+            303.69162890500496,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            185.16503155087892,
+            301.09355269365165,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            186.66503155087892,
+            298.49547648229833,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            188.16503155087892,
+            295.897400270945,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            189.66503155087892,
+            293.2993240595917,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            191.16503155087892,
+            290.7012478482384,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            192.66503155087892,
+            288.10317163688507,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            194.16503155087892,
+            285.50509542553175,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            195.66503155087892,
+            282.90701921417843,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            197.16503155087892,
+            280.3089430028251,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            197.16503155087892,
+            280.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            197.16503155087892,
+            277.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            197.16503155087892,
+            274.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            197.16503155087892,
+            271.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            197.16503155087892,
+            268.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            197.16503155087892,
+            265.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            197.16503155087892,
+            262.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            197.16503155087892,
+            259.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            197.16503155087892,
+            256.3089430028251,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            197.16503155087892,
+            253.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            197.16503155087892,
+            250.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            197.16503155087892,
+            247.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            197.16503155087892,
+            244.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            197.16503155087892,
+            241.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            197.16503155087892,
+            238.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            197.16503155087892,
+            235.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            197.16503155087892,
+            232.30894300282512,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            197.16503155087892,
+            229.30894300282512,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            200.0,
+            216.0,
+            361.985
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-26_2026929416/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-26_2026929416/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0451da8793e792b77f3bdb2f346b7421c9d0d022
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-16-26_2026929416/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            79.4208419143667,
+            299.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            82.01891812572002,
+            298.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            84.61699433707334,
+            296.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            87.21507054842665,
+            295.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            89.81314675977997,
+            293.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            92.41122297113328,
+            292.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            95.0092991824866,
+            290.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            97.60737539383992,
+            289.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            100.20545160519323,
+            287.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            102.80352781654655,
+            286.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            105.40160402789986,
+            284.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            107.99968023925318,
+            283.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            110.5977564506065,
+            281.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            113.19583266195981,
+            280.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            115.79390887331313,
+            278.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            118.39198508466644,
+            277.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            120.99006129601976,
+            275.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            123.58813750737308,
+            274.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            126.18621371872639,
+            272.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            128.7842899300797,
+            271.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983013
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            131.382366141433,
+            269.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            133.98044235278633,
+            268.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            136.57851856413964,
+            266.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            139.17659477549296,
+            265.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            141.77467098684627,
+            263.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            144.3727471981996,
+            262.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            146.9708234095529,
+            260.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            149.56889962090622,
+            259.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            152.16697583225954,
+            257.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            154.76505204361285,
+            256.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            157.36312825496617,
+            254.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            159.9612044663195,
+            253.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            162.5592806776728,
+            251.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            165.15735688902612,
+            250.48976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            167.75543310037943,
+            248.98976580083547,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            167.75543310037943,
+            248.98976580083547,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            169.25543310037943,
+            246.39168958948216,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            170.75543310037943,
+            243.79361337812884,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            172.25543310037943,
+            241.19553716677552,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            173.75543310037943,
+            238.5974609554222,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            175.25543310037943,
+            235.9993847440689,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            176.75543310037943,
+            233.40130853271557,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            178.25543310037943,
+            230.80323232136226,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            179.75543310037943,
+            228.20515611000894,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            181.25543310037943,
+            225.60707989865563,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            181.25543310037943,
+            225.60707989865563,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            181.25543310037943,
+            225.60707989865563,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            184.25543310037943,
+            225.60707989865563,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            187.25543310037943,
+            225.60707989865563,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            200.0,
+            216.0,
+            361.985
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-24-15_1143849810/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-24-15_1143849810/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9f14ff1bbead98020299f04b8d345e317344cb5b
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-24-15_1143849810/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            679.9183508750966,
+            40.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            679.9183508750966,
+            43.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            679.9183508750966,
+            46.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            679.9183508750966,
+            49.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            679.9183508750966,
+            52.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            679.9183508750966,
+            55.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            679.9183508750966,
+            58.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            679.9183508750966,
+            61.687237315931185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            679.9183508750966,
+            64.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            679.9183508750966,
+            67.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            679.9183508750966,
+            70.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            679.9183508750966,
+            73.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            679.9183508750966,
+            76.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            679.9183508750966,
+            79.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            679.9183508750966,
+            82.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            679.9183508750966,
+            85.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            679.9183508750966,
+            88.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            679.9183508750966,
+            91.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            679.9183508750966,
+            94.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            679.9183508750966,
+            97.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            679.9183508750966,
+            100.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            679.9183508750966,
+            103.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            679.9183508750966,
+            106.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            679.9183508750966,
+            109.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            679.9183508750966,
+            112.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            679.9183508750966,
+            115.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            679.9183508750966,
+            118.68723731593118,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            679.9183508750966,
+            118.68723731593118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            678.4183508750966,
+            121.2853135272845,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            676.9183508750966,
+            123.88338973863782,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            675.4183508750966,
+            126.48146594999113,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            673.9183508750966,
+            129.07954216134445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            672.4183508750966,
+            131.67761837269776,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            670.9183508750966,
+            134.27569458405108,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            669.4183508750966,
+            136.8737707954044,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.0,
+            168.0,
+            157.55
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-28-33_321869343/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-28-33_321869343/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2491f140c2e2b69ce0e5181ab3cfd717373f34aa
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-28-33_321869343/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            797.5408017897879,
+            -1665.5910003687734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            799.0408017897879,
+            -1668.1890765801268,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            800.5408017897879,
+            -1670.7871527914801,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            802.0408017897879,
+            -1673.3852290028335,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            803.5408017897879,
+            -1675.9833052141869,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            805.0408017897879,
+            -1678.5813814255403,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            806.5408017897879,
+            -1681.1794576368936,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            808.0408017897879,
+            -1683.777533848247,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            809.5408017897879,
+            -1686.3756100596004,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            811.0408017897879,
+            -1688.9736862709537,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            812.5408017897879,
+            -1691.5717624823071,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            814.0408017897879,
+            -1694.1698386936605,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            815.5408017897879,
+            -1696.7679149050139,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            817.0408017897879,
+            -1699.3659911163672,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            818.5408017897879,
+            -1701.9640673277206,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            820.0408017897879,
+            -1704.562143539074,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            821.5408017897879,
+            -1707.1602197504274,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            823.0408017897879,
+            -1709.7582959617807,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            824.5408017897879,
+            -1712.356372173134,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            826.0408017897879,
+            -1714.9544483844875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            827.5408017897879,
+            -1717.5525245958409,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            829.0408017897879,
+            -1720.1506008071942,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            830.5408017897879,
+            -1722.7486770185476,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            832.0408017897879,
+            -1725.346753229901,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            833.5408017897879,
+            -1727.9448294412543,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            835.0408017897879,
+            -1730.5429056526077,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            836.5408017897879,
+            -1733.140981863961,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            838.0408017897879,
+            -1735.7390580753145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            839.5408017897879,
+            -1738.3371342866678,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            841.0408017897879,
+            -1740.9352104980212,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            842.5408017897879,
+            -1743.5332867093746,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            844.0408017897879,
+            -1746.131362920728,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            845.5408017897879,
+            -1748.7294391320813,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            847.0408017897879,
+            -1751.3275153434347,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            847.0408017897879,
+            -1751.3275153434347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            849.6388780011412,
+            -1752.8275153434347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            852.2369542124945,
+            -1754.3275153434347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            854.8350304238479,
+            -1755.8275153434347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            857.4331066352013,
+            -1757.3275153434347,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            -1768.0,
+            146.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-32-43_1940022924/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-32-43_1940022924/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ced6c2e6736b51cd716503605ad5015f4894fff
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-32-43_1940022924/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            913.053229972583,
+            -1571.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            910.4551537612297,
+            -1570.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            907.8570775498763,
+            -1568.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            905.2590013385229,
+            -1567.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            902.6609251271695,
+            -1565.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            900.0628489158162,
+            -1564.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            897.4647727044628,
+            -1562.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            894.8666964931094,
+            -1561.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            892.2686202817561,
+            -1559.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            889.6705440704027,
+            -1558.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            887.0724678590493,
+            -1556.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            884.4743916476959,
+            -1555.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            881.8763154363426,
+            -1553.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            879.2782392249892,
+            -1552.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            876.6801630136358,
+            -1550.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            874.0820868022824,
+            -1549.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            871.4840105909291,
+            -1547.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            868.8859343795757,
+            -1546.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            866.2878581682223,
+            -1544.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            863.689781956869,
+            -1543.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            861.0917057455156,
+            -1541.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            858.4936295341622,
+            -1540.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            855.8955533228088,
+            -1538.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            853.2974771114555,
+            -1537.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            850.6994009001021,
+            -1535.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            848.1013246887487,
+            -1534.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            845.5032484773953,
+            -1532.676813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            842.905172266042,
+            -1531.176813768911,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            842.905172266042,
+            -1531.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            839.905172266042,
+            -1531.176813768911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            836.905172266042,
+            -1531.176813768911,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            816.0,
+            -1520.0,
+            146.15
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-40-10_1391927494/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-40-10_1391927494/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..601a25afb88ce4f85717e0d04a7b96f11350dbe4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-40-10_1391927494/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            150.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            153.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            156.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            159.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            162.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            165.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            168.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            171.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            174.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            177.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            180.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            183.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            186.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            186.3647891917734,
+            -784.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            188.96286540312673,
+            -783.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            191.56094161448004,
+            -781.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            194.15901782583336,
+            -780.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            196.75709403718668,
+            -778.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            199.35517024854,
+            -777.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            201.9532464598933,
+            -775.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            204.55132267124662,
+            -774.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            207.14939888259994,
+            -772.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            209.74747509395326,
+            -771.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            212.34555130530657,
+            -769.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            214.9436275166599,
+            -768.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            217.5417037280132,
+            -766.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            220.13977993936652,
+            -765.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            222.73785615071984,
+            -763.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            225.33593236207315,
+            -762.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            227.93400857342647,
+            -760.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            230.53208478477978,
+            -759.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            233.1301609961331,
+            -757.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            235.72823720748642,
+            -756.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            238.32631341883973,
+            -754.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            240.92438963019305,
+            -753.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            243.52246584154636,
+            -751.8544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            246.12054205289968,
+            -750.3544589559203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            248.718618264253,
+            -748.8544589559203,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            276.0,
+            -740.0,
+            147.026
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-44-13_1010014811/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-44-13_1010014811/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c064691c56c03dcb2eee4ce634096c07ed503a44
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-44-13_1010014811/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            540.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            543.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            546.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            549.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            552.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            555.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            558.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            561.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            564.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            567.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            570.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            573.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            576.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            579.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            582.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            585.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            588.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            591.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            594.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            597.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            600.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            603.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            606.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            609.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            612.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            615.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            618.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            618.5182480671716,
+            333.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            621.1163242785249,
+            334.56012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            623.7144004898782,
+            336.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            626.3124767012316,
+            337.56012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            628.910552912585,
+            339.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            631.5086291239384,
+            340.56012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            634.1067053352917,
+            342.06012061328516,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            636.7047815466451,
+            343.56012061328516,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            668.0,
+            348.0,
+            160.773
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-47-0_253674535/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-47-0_253674535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8cb0bf25413128cfea3b4e2e62b282baa74724d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-47-0_253674535/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            812.2534470046011,
+            -1061.8198484018815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            810.7534470046011,
+            -1064.4179246132348,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            809.2534470046011,
+            -1067.0160008245882,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            807.7534470046011,
+            -1069.6140770359416,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            806.2534470046011,
+            -1072.212153247295,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            804.7534470046011,
+            -1074.8102294586483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            803.2534470046011,
+            -1077.4083056700017,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            801.7534470046011,
+            -1080.006381881355,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            800.2534470046011,
+            -1082.6044580927085,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            798.7534470046011,
+            -1085.2025343040618,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            797.2534470046011,
+            -1087.8006105154152,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            795.7534470046011,
+            -1090.3986867267686,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            794.2534470046011,
+            -1092.996762938122,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            792.7534470046011,
+            -1095.5948391494753,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            791.2534470046011,
+            -1098.1929153608287,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            789.7534470046011,
+            -1100.790991572182,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            788.2534470046011,
+            -1103.3890677835354,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            786.7534470046011,
+            -1105.9871439948888,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            785.2534470046011,
+            -1108.5852202062422,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            783.7534470046011,
+            -1111.1832964175956,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            782.2534470046011,
+            -1113.781372628949,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            780.7534470046011,
+            -1116.3794488403023,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            779.2534470046011,
+            -1118.9775250516557,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            777.7534470046011,
+            -1121.575601263009,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            776.2534470046011,
+            -1124.1736774743624,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            774.7534470046011,
+            -1126.7717536857158,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            774.7534470046011,
+            -1126.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            774.7534470046011,
+            -1129.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            774.7534470046011,
+            -1132.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            774.7534470046011,
+            -1135.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            774.7534470046011,
+            -1138.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            774.7534470046011,
+            -1141.7717536857158,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            774.7534470046011,
+            -1144.7717536857158,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-5-2_384295879/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-5-2_384295879/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ca7db398eaa8f418be6a9761747851224d6bd32
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-10_23-5-2_384295879/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -266.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -263.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -260.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -257.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -254.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -251.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -248.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -245.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -242.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -239.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -236.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -233.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -230.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -227.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -224.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -221.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -218.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -215.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -212.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -209.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -206.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -203.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -200.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -197.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -194.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -191.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -188.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -185.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -182.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -179.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -179.58836671087096,
+            121.86669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -176.99029049951764,
+            120.36669440508054,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -174.39221428816433,
+            118.86669440508054,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -136.0,
+            116.0,
+            204.047
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-10-33_309667127/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-10-33_309667127/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..71c36048c93cf702e276082fc77f34abfe899d7d
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-10-33_309667127/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -334.2666986818773,
+            908.679683771642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -332.7666986818773,
+            906.0816075602886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -331.2666986818773,
+            903.4835313489352,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -329.7666986818773,
+            900.8854551375819,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -328.2666986818773,
+            898.2873789262285,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -326.7666986818773,
+            895.6893027148751,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -325.2666986818773,
+            893.0912265035217,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -323.7666986818773,
+            890.4931502921684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -322.2666986818773,
+            887.895074080815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -320.7666986818773,
+            885.2969978694616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -319.2666986818773,
+            882.6989216581082,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -317.7666986818773,
+            880.1008454467549,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -316.2666986818773,
+            877.5027692354015,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -316.2666986818773,
+            877.5027692354015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -316.2666986818773,
+            874.5027692354015,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -272.0,
+            780.0,
+            338.618
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-13-23_1564739221/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-13-23_1564739221/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7fd94927ca53bea89384df571cf75cd37f8bdb5a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-13-23_1564739221/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            457.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            460.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            463.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            466.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            469.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            472.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            475.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            475.72014295798715,
+            871.5879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            478.31821916934047,
+            873.0879388114137,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            478.31821916934047,
+            873.0879388114137,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            479.81821916934047,
+            875.6860150227669,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            481.31821916934047,
+            878.2840912341203,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            482.81821916934047,
+            880.8821674454737,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            484.31821916934047,
+            883.480243656827,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            484.31821916934047,
+            883.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            486.9162953806938,
+            884.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            489.5143715920471,
+            886.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            492.1124478034004,
+            887.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            494.71052401475373,
+            889.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            497.30860022610705,
+            890.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            499.90667643746036,
+            892.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            502.5047526488137,
+            893.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            505.102828860167,
+            895.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            507.7009050715203,
+            896.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            510.2989812828736,
+            898.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            512.8970574942269,
+            899.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            515.4951337055802,
+            901.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            518.0932099169336,
+            902.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            520.691286128287,
+            904.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            523.2893623396403,
+            905.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            525.8874385509937,
+            907.480243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            528.4855147623471,
+            908.980243656827,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            528.4855147623471,
+            908.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            531.4855147623471,
+            908.980243656827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            534.4855147623471,
+            908.980243656827,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            920.0,
+            216.131
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-15-48_1818084292/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-15-48_1818084292/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fb624c9507423ee8ff5153c3a44a7cea7c224804
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-15-48_1818084292/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            682.8711687908431,
+            639.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            680.2730925794897,
+            637.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            677.6750163681363,
+            636.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            675.0769401567829,
+            634.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            672.4788639454296,
+            633.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            669.8807877340762,
+            631.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            667.2827115227228,
+            630.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            664.6846353113694,
+            628.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            662.0865591000161,
+            627.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            659.4884828886627,
+            625.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            656.8904066773093,
+            624.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            654.292330465956,
+            622.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            651.6942542546026,
+            621.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            649.0961780432492,
+            619.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            646.4981018318958,
+            618.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            643.9000256205425,
+            616.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            641.3019494091891,
+            615.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            638.7038731978357,
+            613.63415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            636.1057969864823,
+            612.13415041087,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            636.1057969864823,
+            612.13415041087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            634.6057969864823,
+            609.5360741995166,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            633.1057969864823,
+            606.9379979881633,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            631.6057969864823,
+            604.3399217768099,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            630.1057969864823,
+            601.7418455654565,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            628.6057969864823,
+            599.1437693541031,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            627.1057969864823,
+            596.5456931427498,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            625.6057969864823,
+            593.9476169313964,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            624.1057969864823,
+            591.349540720043,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            622.6057969864823,
+            588.7514645086897,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            621.1057969864823,
+            586.1533882973363,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            596.0,
+            560.0,
+            156.155
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-28-11_612203759/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-28-11_612203759/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be9c9fd180a02fe36fda4a806e21393748c12d64
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-28-11_612203759/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            693.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            696.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            699.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            702.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            705.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            708.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            711.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            714.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            717.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            720.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            723.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            726.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            729.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            732.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            732.6422726704676,
+            -1511.7986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            735.2403488818209,
+            -1513.2986841624124,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            735.2403488818209,
+            -1513.2986841624124,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            736.7403488818209,
+            -1515.8967603737658,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            738.2403488818209,
+            -1518.4948365851192,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            738.2403488818209,
+            -1518.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            740.8384250931742,
+            -1519.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            743.4365013045276,
+            -1521.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            746.034577515881,
+            -1522.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            748.6326537272344,
+            -1524.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            751.2307299385877,
+            -1525.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            753.8288061499411,
+            -1527.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            756.4268823612945,
+            -1528.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            759.0249585726478,
+            -1530.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            761.6230347840012,
+            -1531.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            764.2211109953546,
+            -1533.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            766.819187206708,
+            -1534.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            769.4172634180613,
+            -1536.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            772.0153396294147,
+            -1537.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            774.6134158407681,
+            -1539.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            777.2114920521215,
+            -1540.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            779.8095682634748,
+            -1542.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            782.4076444748282,
+            -1543.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            785.0057206861816,
+            -1545.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            787.603796897535,
+            -1546.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            790.2018731088883,
+            -1548.4948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            792.7999493202417,
+            -1549.9948365851192,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            795.3980255315951,
+            -1551.4948365851192,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            812.0,
+            -1560.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-36-7_1243769942/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-36-7_1243769942/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b252ca2999af8118f1182addce13615124384814
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-36-7_1243769942/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            105.05917306178645,
+            -103.54706329955145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            106.55917306178645,
+            -100.94898708819814,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            108.05917306178645,
+            -98.35091087684482,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            109.55917306178645,
+            -95.7528346654915,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            111.05917306178645,
+            -93.15475845413819,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            112.55917306178645,
+            -90.55668224278487,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            114.05917306178645,
+            -87.95860603143156,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            115.55917306178645,
+            -85.36052982007824,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            117.05917306178645,
+            -82.76245360872493,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            118.55917306178645,
+            -80.16437739737161,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            120.05917306178645,
+            -77.5663011860183,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            120.05917306178645,
+            -77.5663011860183,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            120.05917306178645,
+            -74.5663011860183,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            120.05917306178645,
+            -71.5663011860183,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            120.05917306178645,
+            -68.5663011860183,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            120.05917306178645,
+            -65.5663011860183,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            120.05917306178645,
+            -62.56630118601829,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            120.05917306178645,
+            -59.56630118601829,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            120.05917306178645,
+            -56.56630118601829,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            120.05917306178645,
+            -53.56630118601829,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            120.05917306178645,
+            -50.56630118601829,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            120.05917306178645,
+            -47.56630118601829,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            140.0,
+            20.0,
+            602.915
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-14_1803602255/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-14_1803602255/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5bfb73390002a7efe1202564648d84060ae6f568
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-4-14_1803602255/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            616.1488672350927,
+            -984.27256295103,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            617.6488672350927,
+            -986.8706391623832,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            619.1488672350927,
+            -989.4687153737366,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            620.6488672350927,
+            -992.06679158509,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            622.1488672350927,
+            -994.6648677964433,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            623.6488672350927,
+            -997.2629440077967,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            625.1488672350927,
+            -999.8610202191501,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            626.6488672350927,
+            -1002.4590964305035,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            628.1488672350927,
+            -1005.0571726418568,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            629.6488672350927,
+            -1007.6552488532102,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            631.1488672350927,
+            -1010.2533250645636,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            632.6488672350927,
+            -1012.8514012759169,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            634.1488672350927,
+            -1015.4494774872703,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            635.6488672350927,
+            -1018.0475536986237,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            637.1488672350927,
+            -1020.6456299099771,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            638.6488672350927,
+            -1023.2437061213304,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            640.1488672350927,
+            -1025.8417823326838,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            641.6488672350927,
+            -1028.4398585440372,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            643.1488672350927,
+            -1031.0379347553906,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            644.6488672350927,
+            -1033.636010966744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            646.1488672350927,
+            -1036.2340871780973,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            647.6488672350927,
+            -1038.8321633894507,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            649.1488672350927,
+            -1041.430239600804,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            650.6488672350927,
+            -1044.0283158121574,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            652.1488672350927,
+            -1046.6263920235108,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            653.6488672350927,
+            -1049.2244682348642,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            653.6488672350927,
+            -1049.2244682348642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            656.246943446446,
+            -1050.7244682348642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            658.8450196577994,
+            -1052.2244682348642,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -1108.0,
+            165.103
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-38_709606368/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-38_709606368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a637e01d33e36c30c085de2a4d563779105f4a96
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-47-38_709606368/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1042.6723946763966,
+            1686.7071378766702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1045.6723946763966,
+            1686.7071378766702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1048.6723946763966,
+            1686.7071378766702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1051.6723946763966,
+            1686.7071378766702,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1051.6723946763966,
+            1686.7071378766702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1054.27047088775,
+            1688.2071378766702,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1054.27047088775,
+            1688.2071378766702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1055.77047088775,
+            1690.8052140880236,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1057.27047088775,
+            1693.403290299377,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1057.27047088775,
+            1693.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1059.8685470991034,
+            1694.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1062.4666233104567,
+            1696.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1065.06469952181,
+            1697.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1067.6627757331635,
+            1699.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1070.2608519445168,
+            1700.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1072.8589281558702,
+            1702.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1075.4570043672236,
+            1703.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1078.055080578577,
+            1705.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1080.6531567899303,
+            1706.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1083.2512330012837,
+            1708.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1085.849309212637,
+            1709.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1088.4473854239905,
+            1711.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1091.0454616353438,
+            1712.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1093.6435378466972,
+            1714.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1096.2416140580506,
+            1715.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1098.839690269404,
+            1717.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1101.4377664807573,
+            1718.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1104.0358426921107,
+            1720.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1106.633918903464,
+            1721.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1109.2319951148174,
+            1723.403290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1111.8300713261708,
+            1724.903290299377,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1114.4281475375242,
+            1726.403290299377,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1148.0,
+            1748.0,
+            142.441
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-58-8_1063880569/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-58-8_1063880569/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe02b4860a7491cd6a3f476bbf3f71215a20a791
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-58-8_1063880569/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            501.0420769691751,
+            667.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            498.4440007578218,
+            668.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            495.8459245464685,
+            670.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            493.2478483351152,
+            671.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            490.64977212376186,
+            673.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            488.05169591240855,
+            674.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            485.45361970105523,
+            676.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            482.8555434897019,
+            677.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            480.2574672783486,
+            679.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            477.6593910669953,
+            680.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            475.06131485564197,
+            682.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            472.46323864428865,
+            683.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            469.86516243293534,
+            685.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            467.267086221582,
+            686.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            464.6690100102287,
+            688.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            462.0709337988754,
+            689.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            459.47285758752207,
+            691.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            456.87478137616876,
+            692.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            454.27670516481544,
+            694.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            451.6786289534621,
+            695.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            449.0805527421088,
+            697.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            446.4824765307555,
+            698.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            443.8844003194022,
+            700.3508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            441.28632410804886,
+            701.8508263682606,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            441.28632410804886,
+            701.8508263682606,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            439.78632410804886,
+            704.448902579614,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            438.28632410804886,
+            707.0469787909674,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            400.0,
+            736.0,
+            172.46
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-6-28_992277052/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-6-28_992277052/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22e6c3e05dbbc0e61e9f9b328c83692a9fa715e3
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_0-6-28_992277052/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            325.83278384609645,
+            -264.843302040536,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            327.33278384609645,
+            -262.2452258291827,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            328.83278384609645,
+            -259.64714961782937,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            330.33278384609645,
+            -257.04907340647605,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            331.83278384609645,
+            -254.45099719512274,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            333.33278384609645,
+            -251.85292098376942,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            334.83278384609645,
+            -249.2548447724161,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            336.33278384609645,
+            -246.6567685610628,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            337.83278384609645,
+            -244.05869234970947,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            339.33278384609645,
+            -241.46061613835616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            340.83278384609645,
+            -238.86253992700284,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            342.33278384609645,
+            -236.26446371564953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            343.83278384609645,
+            -233.6663875042962,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            345.33278384609645,
+            -231.0683112929429,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            346.83278384609645,
+            -228.47023508158958,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            348.33278384609645,
+            -225.87215887023626,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            349.83278384609645,
+            -223.27408265888295,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            351.33278384609645,
+            -220.67600644752963,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            352.83278384609645,
+            -218.07793023617631,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            354.33278384609645,
+            -215.479854024823,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            355.83278384609645,
+            -212.88177781346968,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            357.33278384609645,
+            -210.28370160211637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            358.83278384609645,
+            -207.68562539076305,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            360.33278384609645,
+            -205.08754917940973,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            361.83278384609645,
+            -202.48947296805642,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            361.83278384609645,
+            -202.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            361.83278384609645,
+            -199.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            361.83278384609645,
+            -196.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            361.83278384609645,
+            -193.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            361.83278384609645,
+            -190.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            361.83278384609645,
+            -187.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            361.83278384609645,
+            -184.48947296805642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            361.83278384609645,
+            -181.48947296805642,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            376.0,
+            -152.0,
+            151.354
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-0-27_869921280/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-0-27_869921280/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04de3573fcf19e0e0ac3543c97bd3fd54097615a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-0-27_869921280/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            734.9446216198761,
+            -1201.288329593873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            733.4446216198761,
+            -1198.6902533825196,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            731.9446216198761,
+            -1196.0921771711662,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            730.4446216198761,
+            -1193.4941009598128,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            728.9446216198761,
+            -1190.8960247484595,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            727.4446216198761,
+            -1188.297948537106,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            725.9446216198761,
+            -1185.6998723257527,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            724.4446216198761,
+            -1183.1017961143993,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            722.9446216198761,
+            -1180.503719903046,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            721.4446216198761,
+            -1177.9056436916926,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            719.9446216198761,
+            -1175.3075674803392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            718.4446216198761,
+            -1172.7094912689859,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            716.9446216198761,
+            -1170.1114150576325,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            715.4446216198761,
+            -1167.513338846279,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            715.4446216198761,
+            -1167.513338846279,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            715.4446216198761,
+            -1164.513338846279,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            715.4446216198761,
+            -1161.513338846279,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            715.4446216198761,
+            -1158.513338846279,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            715.4446216198761,
+            -1155.513338846279,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            715.4446216198761,
+            -1152.513338846279,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -1108.0,
+            165.103
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-19-13_855320512/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-19-13_855320512/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..31acffc9243c8d185ecd5b982d556f1bb2f9496c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-19-13_855320512/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            685.982708304079,
+            651.600613268081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            684.482708304079,
+            649.0025370567278,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            682.982708304079,
+            646.4044608453744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            681.482708304079,
+            643.806384634021,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            679.982708304079,
+            641.2083084226676,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            678.482708304079,
+            638.6102322113143,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            676.982708304079,
+            636.0121559999609,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            675.482708304079,
+            633.4140797886075,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            673.982708304079,
+            630.8160035772542,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            672.482708304079,
+            628.2179273659008,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            670.982708304079,
+            625.6198511545474,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            669.482708304079,
+            623.021774943194,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            667.982708304079,
+            620.4236987318407,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            666.482708304079,
+            617.8256225204873,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            666.482708304079,
+            617.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            663.8846320927257,
+            616.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            661.2865558813724,
+            614.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            658.688479670019,
+            613.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            656.0904034586656,
+            611.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            653.4923272473122,
+            610.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            650.8942510359589,
+            608.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            648.2961748246055,
+            607.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            645.6980986132521,
+            605.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            643.1000224018987,
+            604.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            640.5019461905454,
+            602.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            637.903869979192,
+            601.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            635.3057937678386,
+            599.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            632.7077175564852,
+            598.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            630.1096413451319,
+            596.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            627.5115651337785,
+            595.3256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            624.9134889224251,
+            593.8256225204873,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            624.9134889224251,
+            593.8256225204873,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            623.4134889224251,
+            591.2275463091339,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            621.9134889224251,
+            588.6294700977805,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            596.0,
+            560.0,
+            156.155
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-20-49_384868448/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-20-49_384868448/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2bb925f4b2ea095ee32abd856279b712336f9ba8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-20-49_384868448/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            85.06586244704921,
+            -11.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            85.06586244704921,
+            -14.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            85.06586244704921,
+            -17.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            85.06586244704921,
+            -20.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            85.06586244704921,
+            -23.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            85.06586244704921,
+            -26.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            85.06586244704921,
+            -29.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            85.06586244704921,
+            -32.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            85.06586244704921,
+            -35.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            85.06586244704921,
+            -38.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            85.06586244704921,
+            -41.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            85.06586244704921,
+            -44.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            85.06586244704921,
+            -47.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            85.06586244704921,
+            -50.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            85.06586244704921,
+            -53.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            85.06586244704921,
+            -56.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            85.06586244704921,
+            -59.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            85.06586244704921,
+            -62.704869872220684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            85.06586244704921,
+            -65.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            85.06586244704921,
+            -68.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            85.06586244704921,
+            -71.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            85.06586244704921,
+            -74.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            85.06586244704921,
+            -77.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            85.06586244704921,
+            -80.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            85.06586244704921,
+            -83.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            85.06586244704921,
+            -86.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            85.06586244704921,
+            -89.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            85.06586244704921,
+            -92.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            85.06586244704921,
+            -95.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            85.06586244704921,
+            -98.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            85.06586244704921,
+            -101.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            85.06586244704921,
+            -104.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            85.06586244704921,
+            -107.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            85.06586244704921,
+            -110.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            85.06586244704921,
+            -113.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            85.06586244704921,
+            -116.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            85.06586244704921,
+            -119.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            85.06586244704921,
+            -122.70486987222068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            85.06586244704921,
+            -125.70486987222068,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            -140.0,
+            151.491
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-22-8_1268632557/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-22-8_1268632557/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5e07f992db2b6094391b9c5c17de145755f27eb
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-22-8_1268632557/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            296.78552488344434,
+            61.64645253000347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            295.28552488344434,
+            64.24452874135679,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            293.78552488344434,
+            66.8426049527101,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            292.28552488344434,
+            69.44068116406342,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            290.78552488344434,
+            72.03875737541674,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            289.28552488344434,
+            74.63683358677005,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            287.78552488344434,
+            77.23490979812337,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            286.28552488344434,
+            79.83298600947668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            284.78552488344434,
+            82.43106222083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            283.28552488344434,
+            85.02913843218332,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            281.78552488344434,
+            87.62721464353663,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            280.28552488344434,
+            90.22529085488995,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            278.78552488344434,
+            92.82336706624326,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            277.28552488344434,
+            95.42144327759658,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            275.78552488344434,
+            98.0195194889499,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            274.28552488344434,
+            100.61759570030321,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            272.78552488344434,
+            103.21567191165653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            271.28552488344434,
+            105.81374812300984,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            269.78552488344434,
+            108.41182433436316,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            268.28552488344434,
+            111.00990054571648,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            266.78552488344434,
+            113.60797675706979,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            265.28552488344434,
+            116.20605296842311,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            263.78552488344434,
+            118.80412917977642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            262.28552488344434,
+            121.40220539112974,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            260.78552488344434,
+            124.00028160248306,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            259.28552488344434,
+            126.59835781383637,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            257.78552488344434,
+            129.1964340251897,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            256.28552488344434,
+            131.794510236543,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            254.78552488344434,
+            134.39258644789632,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            253.28552488344434,
+            136.99066265924964,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            251.78552488344434,
+            139.58873887060295,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            250.28552488344434,
+            142.18681508195627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            248.78552488344434,
+            144.78489129330958,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            247.28552488344434,
+            147.3829675046629,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            245.78552488344434,
+            149.98104371601622,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            244.28552488344434,
+            152.57911992736953,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            242.78552488344434,
+            155.17719613872285,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            241.28552488344434,
+            157.77527235007616,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            396.289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-37_428674782/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-37_428674782/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..505557bea9e9881e4c5314ac40700e79df63dd09
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-37_428674782/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            856.1119636410566,
+            -1264.1838106717505,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            854.6119636410566,
+            -1261.5857344603971,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            853.1119636410566,
+            -1258.9876582490438,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            851.6119636410566,
+            -1256.3895820376904,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            850.1119636410566,
+            -1253.791505826337,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            848.6119636410566,
+            -1251.1934296149836,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            847.1119636410566,
+            -1248.5953534036303,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            845.6119636410566,
+            -1245.997277192277,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            844.1119636410566,
+            -1243.3992009809235,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            842.6119636410566,
+            -1240.8011247695702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            841.1119636410566,
+            -1238.2030485582168,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            839.6119636410566,
+            -1235.6049723468634,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            838.1119636410566,
+            -1233.00689613551,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            838.1119636410566,
+            -1233.00689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            835.5138874297033,
+            -1231.50689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            832.91581121835,
+            -1230.00689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            830.3177350069966,
+            -1228.50689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            827.7196587956432,
+            -1227.00689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            825.1215825842899,
+            -1225.50689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            822.5235063729365,
+            -1224.00689613551,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            819.9254301615831,
+            -1222.50689613551,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-53_1454580282/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-53_1454580282/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..790a14adf036ec229d480323ccc4034c9d03b07a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-25-53_1454580282/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            687.0070869294581,
+            -1065.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            690.0070869294581,
+            -1065.2440743006184,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            690.0070869294581,
+            -1065.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            692.6051631408113,
+            -1066.7440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            695.2032393521647,
+            -1068.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            697.8013155635181,
+            -1069.7440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            700.3993917748714,
+            -1071.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            702.9974679862248,
+            -1072.7440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            705.5955441975782,
+            -1074.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            708.1936204089316,
+            -1075.7440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            710.7916966202849,
+            -1077.2440743006184,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            710.7916966202849,
+            -1077.2440743006184,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            712.2916966202849,
+            -1079.8421505119718,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            713.7916966202849,
+            -1082.4402267233252,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            715.2916966202849,
+            -1085.0383029346785,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            716.7916966202849,
+            -1087.636379146032,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            718.2916966202849,
+            -1090.2344553573853,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            719.7916966202849,
+            -1092.8325315687387,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            721.2916966202849,
+            -1095.430607780092,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            722.7916966202849,
+            -1098.0286839914454,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            724.2916966202849,
+            -1100.6267602027988,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            725.7916966202849,
+            -1103.2248364141522,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            727.2916966202849,
+            -1105.8229126255055,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            728.7916966202849,
+            -1108.420988836859,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            730.2916966202849,
+            -1111.0190650482123,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            731.7916966202849,
+            -1113.6171412595656,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            733.2916966202849,
+            -1116.215217470919,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            734.7916966202849,
+            -1118.8132936822724,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            736.2916966202849,
+            -1121.4113698936258,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            737.7916966202849,
+            -1124.0094461049791,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            739.2916966202849,
+            -1126.6075223163325,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            740.7916966202849,
+            -1129.2055985276859,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            742.2916966202849,
+            -1131.8036747390393,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            743.7916966202849,
+            -1134.4017509503926,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            743.7916966202849,
+            -1134.4017509503926,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            746.3897728316383,
+            -1135.9017509503926,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            748.9878490429917,
+            -1137.4017509503926,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            768.0,
+            -1160.0,
+            163.63
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-3-6_979601485/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-3-6_979601485/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7498f83c7b264d90b9ed8c427185f6a4aae8a53f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-3-6_979601485/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            790.2223813739323,
+            -1715.4251012496347,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            791.7223813739323,
+            -1718.023177460988,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            793.2223813739323,
+            -1720.6212536723415,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            794.7223813739323,
+            -1723.2193298836949,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            796.2223813739323,
+            -1725.8174060950482,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            797.7223813739323,
+            -1728.4154823064016,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            799.2223813739323,
+            -1731.013558517755,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            800.7223813739323,
+            -1733.6116347291083,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            802.2223813739323,
+            -1736.2097109404617,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            803.7223813739323,
+            -1738.807787151815,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            805.2223813739323,
+            -1741.4058633631685,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            806.7223813739323,
+            -1744.0039395745218,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            808.2223813739323,
+            -1746.6020157858752,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            809.7223813739323,
+            -1749.2000919972286,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            811.2223813739323,
+            -1751.798168208582,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            812.7223813739323,
+            -1754.3962444199353,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            814.2223813739323,
+            -1756.9943206312887,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            815.7223813739323,
+            -1759.592396842642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            817.2223813739323,
+            -1762.1904730539954,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            818.7223813739323,
+            -1764.7885492653488,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            820.2223813739323,
+            -1767.3866254767022,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            821.7223813739323,
+            -1769.9847016880556,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            823.2223813739323,
+            -1772.582777899409,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            824.7223813739323,
+            -1775.1808541107623,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            826.2223813739323,
+            -1777.7789303221157,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            826.2223813739323,
+            -1777.7789303221157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            826.2223813739323,
+            -1780.7789303221157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            826.2223813739323,
+            -1783.7789303221157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            826.2223813739323,
+            -1786.7789303221157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            826.2223813739323,
+            -1789.7789303221157,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            826.2223813739323,
+            -1792.7789303221157,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            -1808.0,
+            165.105
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-43-3_1455252833/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-43-3_1455252833/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9bb725acb6446cfff47f62559eca71cf9aed260e
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-43-3_1455252833/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            790.8626611813912,
+            -1057.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            788.264584970038,
+            -1058.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            785.6665087586846,
+            -1060.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            783.0684325473312,
+            -1061.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            780.4703563359778,
+            -1063.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            777.8722801246245,
+            -1064.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            775.2742039132711,
+            -1066.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            772.6761277019177,
+            -1067.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            770.0780514905643,
+            -1069.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            767.479975279211,
+            -1070.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            764.8818990678576,
+            -1072.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            762.2838228565042,
+            -1073.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            759.6857466451509,
+            -1075.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            757.0876704337975,
+            -1076.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            754.4895942224441,
+            -1078.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            751.8915180110907,
+            -1079.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            749.2934417997374,
+            -1081.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            746.695365588384,
+            -1082.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            744.0972893770306,
+            -1084.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            741.4992131656772,
+            -1085.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            738.9011369543239,
+            -1087.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            736.3030607429705,
+            -1088.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            733.7049845316171,
+            -1090.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            731.1069083202638,
+            -1091.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            728.5088321089104,
+            -1093.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            725.910755897557,
+            -1094.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            723.3126796862036,
+            -1096.1070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            720.7146034748503,
+            -1097.6070543605147,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            720.7146034748503,
+            -1097.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            717.7146034748503,
+            -1097.6070543605147,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            714.7146034748503,
+            -1097.6070543605147,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -1108.0,
+            165.103
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-52-55_1184726095/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-52-55_1184726095/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e9c9f5a1d06b06029bab84e2186b10f3843f2601
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_1-52-55_1184726095/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            528.7795164712437,
+            1040.0993726221154,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            530.2795164712437,
+            1037.501296410762,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            531.7795164712437,
+            1034.9032201994087,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            533.2795164712437,
+            1032.3051439880553,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            534.7795164712437,
+            1029.707067776702,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            536.2795164712437,
+            1027.1089915653486,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            537.7795164712437,
+            1024.5109153539952,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            539.2795164712437,
+            1021.9128391426418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            540.7795164712437,
+            1019.3147629312884,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            542.2795164712437,
+            1016.7166867199351,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            543.7795164712437,
+            1014.1186105085817,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            545.2795164712437,
+            1011.5205342972283,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            546.7795164712437,
+            1008.922458085875,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            548.2795164712437,
+            1006.3243818745216,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            549.7795164712437,
+            1003.7263056631682,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            551.2795164712437,
+            1001.1282294518148,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            552.7795164712437,
+            998.5301532404615,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            552.7795164712437,
+            998.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            552.7795164712437,
+            995.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            552.7795164712437,
+            992.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            552.7795164712437,
+            989.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            552.7795164712437,
+            986.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            552.7795164712437,
+            983.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            552.7795164712437,
+            980.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            552.7795164712437,
+            977.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            552.7795164712437,
+            974.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            552.7795164712437,
+            971.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            552.7795164712437,
+            968.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            552.7795164712437,
+            965.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            552.7795164712437,
+            962.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            552.7795164712437,
+            959.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            552.7795164712437,
+            956.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            552.7795164712437,
+            953.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            552.7795164712437,
+            950.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            552.7795164712437,
+            947.5301532404615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            552.7795164712437,
+            944.5301532404615,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            920.0,
+            216.131
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-18-58_620529490/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-18-58_620529490/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e3a5f2987db19f5bd46f7d5136aab68648222356
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-18-58_620529490/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            573.6431754156429,
+            -1018.9496698442911,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            575.1431754156429,
+            -1021.5477460556444,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            576.6431754156429,
+            -1024.1458222669978,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            576.6431754156429,
+            -1024.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            579.2412516269962,
+            -1025.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            581.8393278383496,
+            -1027.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            584.437404049703,
+            -1028.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            587.0354802610564,
+            -1030.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            589.6335564724097,
+            -1031.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            592.2316326837631,
+            -1033.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            594.8297088951165,
+            -1034.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            597.4277851064699,
+            -1036.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            600.0258613178232,
+            -1037.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            602.6239375291766,
+            -1039.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            605.22201374053,
+            -1040.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            607.8200899518833,
+            -1042.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            610.4181661632367,
+            -1043.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            613.0162423745901,
+            -1045.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            615.6143185859435,
+            -1046.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            618.2123947972968,
+            -1048.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            620.8104710086502,
+            -1049.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            623.4085472200036,
+            -1051.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            626.006623431357,
+            -1052.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            628.6046996427103,
+            -1054.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            631.2027758540637,
+            -1055.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            633.8008520654171,
+            -1057.1458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            636.3989282767704,
+            -1058.6458222669978,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            638.9970044881238,
+            -1060.1458222669978,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            684.0,
+            -1088.0,
+            165.83
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-5_1396028861/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-5_1396028861/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b5b690538199ba36ed0754dc50d4e6cc46fd436a
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-2-5_1396028861/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1662.3179317887837,
+            -454.4561166321755,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1663.8179317887837,
+            -457.0541928435288,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1665.3179317887837,
+            -459.65226905488214,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1666.8179317887837,
+            -462.25034526623546,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1668.3179317887837,
+            -464.8484214775888,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1669.8179317887837,
+            -467.4464976889421,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1671.3179317887837,
+            -470.0445739002954,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1672.8179317887837,
+            -472.6426501116487,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1674.3179317887837,
+            -475.24072632300204,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1675.8179317887837,
+            -477.83880253435535,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1677.3179317887837,
+            -480.43687874570867,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1678.8179317887837,
+            -483.034954957062,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1680.3179317887837,
+            -485.6330311684153,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1681.8179317887837,
+            -488.2311073797686,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1683.3179317887837,
+            -490.82918359112193,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1684.8179317887837,
+            -493.42725980247525,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1686.3179317887837,
+            -496.02533601382856,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1687.8179317887837,
+            -498.6234122251819,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1689.3179317887837,
+            -501.2214884365352,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1690.8179317887837,
+            -503.8195646478885,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1692.3179317887837,
+            -506.4176408592418,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1693.8179317887837,
+            -509.01571707059514,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1695.3179317887837,
+            -511.61379328194846,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1695.3179317887837,
+            -511.61379328194846,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1697.916008000137,
+            -513.1137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1700.5140842114904,
+            -514.6137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1703.1121604228438,
+            -516.1137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1705.7102366341971,
+            -517.6137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1708.3083128455505,
+            -519.1137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1710.906389056904,
+            -520.6137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1713.5044652682573,
+            -522.1137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1716.1025414796106,
+            -523.6137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1718.700617690964,
+            -525.1137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1721.2986939023174,
+            -526.6137932819485,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1721.2986939023174,
+            -526.6137932819485,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1722.7986939023174,
+            -529.2118694933017,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1748.0,
+            -560.0,
+            150.683
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-24-29_1254390769/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-24-29_1254390769/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05435bb976b09de74635d37aaff2ccbe3755254e
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-24-29_1254390769/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -228.42280091553937,
+            875.797399968842,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -229.92280091553937,
+            873.1993237574886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -231.42280091553937,
+            870.6012475461353,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -232.92280091553937,
+            868.0031713347819,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -234.42280091553937,
+            865.4050951234285,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -235.92280091553937,
+            862.8070189120751,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -237.42280091553937,
+            860.2089427007218,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -238.92280091553937,
+            857.6108664893684,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -240.42280091553937,
+            855.012790278015,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -241.92280091553937,
+            852.4147140666616,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -241.92280091553937,
+            852.4147140666616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -241.92280091553937,
+            849.4147140666616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -241.92280091553937,
+            846.4147140666616,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -241.92280091553937,
+            843.4147140666616,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -272.0,
+            780.0,
+            338.618
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-26-28_1656951142/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-26-28_1656951142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53424a1febc3a2f4f20e2c790fb01cffa6102127
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-26-28_1656951142/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            424.5188168406741,
+            879.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            421.9207406293208,
+            881.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            419.3226644179675,
+            882.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            416.72458820661416,
+            884.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            414.12651199526084,
+            885.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            411.5284357839075,
+            887.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            408.9303595725542,
+            888.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            406.3322833612009,
+            890.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            403.7342071498476,
+            891.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            401.13613093849426,
+            893.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            398.53805472714095,
+            894.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            395.93997851578763,
+            896.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            393.3419023044343,
+            897.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            390.743826093081,
+            899.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            388.1457498817277,
+            900.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            385.54767367037437,
+            902.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            382.94959745902105,
+            903.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            380.35152124766773,
+            905.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            377.7534450363144,
+            906.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            375.1553688249611,
+            908.4164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            372.5572926136078,
+            909.9164877992627,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            369.95921640225447,
+            911.4164877992627,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            332.0,
+            936.0,
+            212.714
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-31-4_850377601/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-31-4_850377601/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8deafb531fac57b774c785798394925c9f623eac
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-31-4_850377601/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            794.9412313197904,
+            -1693.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            794.9412313197904,
+            -1690.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            794.9412313197904,
+            -1687.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            794.9412313197904,
+            -1684.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            794.9412313197904,
+            -1681.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            794.9412313197904,
+            -1678.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            794.9412313197904,
+            -1675.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            794.9412313197904,
+            -1672.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            794.9412313197904,
+            -1669.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            794.9412313197904,
+            -1666.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            794.9412313197904,
+            -1663.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            794.9412313197904,
+            -1660.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            794.9412313197904,
+            -1657.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            794.9412313197904,
+            -1654.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            794.9412313197904,
+            -1651.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            794.9412313197904,
+            -1648.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            794.9412313197904,
+            -1645.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            794.9412313197904,
+            -1642.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            794.9412313197904,
+            -1639.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            794.9412313197904,
+            -1636.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            794.9412313197904,
+            -1633.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            794.9412313197904,
+            -1630.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            794.9412313197904,
+            -1627.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            794.9412313197904,
+            -1624.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            794.9412313197904,
+            -1621.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            794.9412313197904,
+            -1618.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            794.9412313197904,
+            -1615.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            794.9412313197904,
+            -1612.403200731323,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            794.9412313197904,
+            -1612.403200731323,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            794.9412313197904,
+            -1612.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            797.5393075311438,
+            -1610.903200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            800.1373837424971,
+            -1609.403200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            802.7354599538505,
+            -1607.903200731323,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            802.7354599538505,
+            -1607.903200731323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            804.2354599538505,
+            -1605.3051245199697,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            805.7354599538505,
+            -1602.7070483086163,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            807.2354599538505,
+            -1600.108972097263,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            808.7354599538505,
+            -1597.5108958859096,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            812.0,
+            -1560.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-38-18_877062718/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-38-18_877062718/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3a415ce05a9290cc4ba10454da3538375dc2d250
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-38-18_877062718/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            351.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            354.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            357.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            360.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            363.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            366.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            369.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            372.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            375.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            378.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            381.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            384.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            387.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            390.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            393.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            396.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            399.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            402.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            405.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            408.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            408.29057339867984,
+            893.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            410.88864961003316,
+            895.3949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            413.48672582138647,
+            896.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            416.0848020327398,
+            898.3949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            418.6828782440931,
+            899.8949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            421.2809544554464,
+            901.3949030559573,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            423.87903066679974,
+            902.8949030559573,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            452.0,
+            904.0,
+            171.245
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-4-30_949784416/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-4-30_949784416/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e656625caa61360e89a053e25a3d7184d8f890a4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-4-30_949784416/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            762.7970381477977,
+            -990.7569384589701,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            761.2970381477977,
+            -993.3550146703235,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            759.7970381477977,
+            -995.9530908816769,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            758.2970381477977,
+            -998.5511670930302,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            756.7970381477977,
+            -1001.1492433043836,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            755.2970381477977,
+            -1003.747319515737,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            753.7970381477977,
+            -1006.3453957270904,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            752.2970381477977,
+            -1008.9434719384437,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            750.7970381477977,
+            -1011.5415481497971,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            749.2970381477977,
+            -1014.1396243611505,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            747.7970381477977,
+            -1016.7377005725039,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            746.2970381477977,
+            -1019.3357767838572,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            744.7970381477977,
+            -1021.9338529952106,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            743.2970381477977,
+            -1024.531929206564,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            741.7970381477977,
+            -1027.1300054179173,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            740.2970381477977,
+            -1029.7280816292707,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            738.7970381477977,
+            -1032.326157840624,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            737.2970381477977,
+            -1034.9242340519775,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            735.7970381477977,
+            -1037.5223102633308,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            734.2970381477977,
+            -1040.1203864746842,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            732.7970381477977,
+            -1042.7184626860376,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            731.2970381477977,
+            -1045.316538897391,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            729.7970381477977,
+            -1047.9146151087443,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            728.2970381477977,
+            -1050.5126913200977,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            726.7970381477977,
+            -1053.110767531451,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            725.2970381477977,
+            -1055.7088437428044,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            723.7970381477977,
+            -1058.3069199541578,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            723.7970381477977,
+            -1058.3069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            721.1989619364444,
+            -1059.8069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            718.6008857250911,
+            -1061.3069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            716.0028095137377,
+            -1062.8069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            713.4047333023843,
+            -1064.3069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            710.806657091031,
+            -1065.8069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            708.2085808796776,
+            -1067.3069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            705.6105046683242,
+            -1068.8069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            703.0124284569708,
+            -1070.3069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            700.4143522456175,
+            -1071.8069199541578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            697.8162760342641,
+            -1073.3069199541578,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            684.0,
+            -1088.0,
+            165.83
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-40-57_1360933007/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-40-57_1360933007/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90a23fbd1c2c35e7d9339b9684319e006f011fed
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-40-57_1360933007/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            671.5066197730938,
+            723.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            668.9085435617405,
+            722.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            666.3104673503872,
+            720.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            663.7123911390338,
+            719.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            661.1143149276804,
+            717.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            658.516238716327,
+            716.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            655.9181625049737,
+            714.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            653.3200862936203,
+            713.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            650.7220100822669,
+            711.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            648.1239338709136,
+            710.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            645.5258576595602,
+            708.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            642.9277814482068,
+            707.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            640.3297052368534,
+            705.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            637.7316290255001,
+            704.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            635.1335528141467,
+            702.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            632.5354766027933,
+            701.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            629.93740039144,
+            699.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            627.3393241800866,
+            698.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            624.7412479687332,
+            696.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            622.1431717573798,
+            695.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            619.5450955460265,
+            693.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            616.9470193346731,
+            692.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            614.3489431233197,
+            690.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            611.7508669119663,
+            689.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            609.152790700613,
+            687.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            606.5547144892596,
+            686.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            603.9566382779062,
+            684.6066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            601.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            601.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            598.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            595.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            592.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            589.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            586.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            583.3585620665528,
+            683.1066992868392,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            668.0,
+            143.189
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-48-40_2094258726/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-48-40_2094258726/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d61b1e68c533434127df1378b71b36b67b61a69
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-48-40_2094258726/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -452.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -449.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -446.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -443.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -440.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -440.4545556284046,
+            192.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -437.8564794170513,
+            193.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -435.25840320569796,
+            195.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -432.66032699434464,
+            196.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -430.0622507829913,
+            198.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -427.464174571638,
+            199.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -424.8660983602847,
+            201.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -422.2680221489314,
+            202.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -419.66994593757806,
+            204.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -417.07186972622475,
+            205.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -414.47379351487143,
+            207.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -411.8757173035181,
+            208.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -409.2776410921648,
+            210.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -406.6795648808115,
+            211.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -404.08148866945817,
+            213.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -401.48341245810485,
+            214.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -398.88533624675154,
+            216.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -396.2872600353982,
+            217.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -393.6891838240449,
+            219.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -391.0911076126916,
+            220.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -388.49303140133827,
+            222.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -385.89495518998496,
+            223.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -383.29687897863164,
+            225.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -380.6988027672783,
+            226.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -378.100726555925,
+            228.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -375.5026503445717,
+            229.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -372.9045741332184,
+            231.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -370.30649792186506,
+            232.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -367.70842171051174,
+            234.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -365.1103454991584,
+            235.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -362.5122692878051,
+            237.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -359.9141930764518,
+            238.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -357.3161168650985,
+            240.20355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -354.71804065374516,
+            241.70355303278734,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -354.71804065374516,
+            241.70355303278734,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -351.71804065374516,
+            241.70355303278734,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            256.0,
+            154.563
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-52-15_1517244564/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-52-15_1517244564/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cde2749029f6992a10e311d826a4b129dbba7183
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-52-15_1517244564/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            712.4655376907042,
+            -1202.4520392553254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            715.4655376907042,
+            -1202.4520392553254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            718.4655376907042,
+            -1202.4520392553254,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            718.4655376907042,
+            -1202.4520392553254,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            718.4655376907042,
+            -1202.4520392553254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            719.9655376907042,
+            -1205.0501154666788,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            721.4655376907042,
+            -1207.6481916780322,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            722.9655376907042,
+            -1210.2462678893855,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            724.4655376907042,
+            -1212.844344100739,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            725.9655376907042,
+            -1215.4424203120923,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            727.4655376907042,
+            -1218.0404965234457,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            728.9655376907042,
+            -1220.638572734799,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            730.4655376907042,
+            -1223.2366489461524,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            731.9655376907042,
+            -1225.8347251575058,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            733.4655376907042,
+            -1228.4328013688591,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            734.9655376907042,
+            -1231.0308775802125,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            736.4655376907042,
+            -1233.628953791566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            737.9655376907042,
+            -1236.2270300029193,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            739.4655376907042,
+            -1238.8251062142726,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            740.9655376907042,
+            -1241.423182425626,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            742.4655376907042,
+            -1244.0212586369794,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            743.9655376907042,
+            -1246.6193348483328,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            745.4655376907042,
+            -1249.2174110596861,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            746.9655376907042,
+            -1251.8154872710395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            748.4655376907042,
+            -1254.4135634823929,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            749.9655376907042,
+            -1257.0116396937462,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            751.4655376907042,
+            -1259.6097159050996,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            752.9655376907042,
+            -1262.207792116453,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            754.4655376907042,
+            -1264.8058683278064,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            754.4655376907042,
+            -1264.8058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            757.0636139020576,
+            -1266.3058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            759.6616901134109,
+            -1267.8058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            762.2597663247643,
+            -1269.3058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            764.8578425361177,
+            -1270.8058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            767.4559187474711,
+            -1272.3058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            770.0539949588244,
+            -1273.8058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            772.6520711701778,
+            -1275.3058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            775.2501473815312,
+            -1276.8058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            777.8482235928846,
+            -1278.3058683278064,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            777.8482235928846,
+            -1278.3058683278064,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            779.3482235928846,
+            -1280.9039445391597,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-57-38_1320399826/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-57-38_1320399826/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55321f9609f6907dff1b6d88b3fbeb357bd61cd4
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-57-38_1320399826/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            718.7059328305596,
+            -1419.1495341911452,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            720.2059328305596,
+            -1421.7476104024986,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            721.7059328305596,
+            -1424.345686613852,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            723.2059328305596,
+            -1426.9437628252053,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            724.7059328305596,
+            -1429.5418390365587,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            726.2059328305596,
+            -1432.139915247912,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            727.7059328305596,
+            -1434.7379914592655,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            729.2059328305596,
+            -1437.3360676706188,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            730.7059328305596,
+            -1439.9341438819722,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            732.2059328305596,
+            -1442.5322200933256,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            733.7059328305596,
+            -1445.130296304679,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            735.2059328305596,
+            -1447.7283725160323,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            736.7059328305596,
+            -1450.3264487273857,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            738.2059328305596,
+            -1452.924524938739,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            739.7059328305596,
+            -1455.5226011500924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            741.2059328305596,
+            -1458.1206773614458,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            742.7059328305596,
+            -1460.7187535727992,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            744.2059328305596,
+            -1463.3168297841526,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            745.7059328305596,
+            -1465.914905995506,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            747.2059328305596,
+            -1468.5129822068593,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            748.7059328305596,
+            -1471.1110584182127,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            750.2059328305596,
+            -1473.709134629566,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            750.2059328305596,
+            -1473.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            752.8040090419129,
+            -1475.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            755.4020852532663,
+            -1476.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            758.0001614646196,
+            -1478.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            760.598237675973,
+            -1479.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            763.1963138873264,
+            -1481.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            765.7943900986797,
+            -1482.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            768.3924663100331,
+            -1484.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            770.9905425213865,
+            -1485.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            773.5886187327399,
+            -1487.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            776.1866949440932,
+            -1488.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            778.7847711554466,
+            -1490.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            781.3828473668,
+            -1491.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            783.9809235781534,
+            -1493.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            786.5789997895067,
+            -1494.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            789.1770760008601,
+            -1496.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            791.7751522122135,
+            -1497.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            794.3732284235668,
+            -1499.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            796.9713046349202,
+            -1500.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            799.5693808462736,
+            -1502.209134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            802.167457057627,
+            -1503.709134629566,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            802.167457057627,
+            -1503.709134629566,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            803.667457057627,
+            -1506.3072108409194,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            805.167457057627,
+            -1508.9052870522728,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            816.0,
+            -1520.0,
+            146.15
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-58-57_863043860/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-58-57_863043860/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f39693a14c76709a582a6f92fd621f9c156f0237
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_2-58-57_863043860/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            357.566149177341,
+            -194.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            354.9680729659877,
+            -193.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            352.36999675463437,
+            -191.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            349.77192054328106,
+            -190.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            347.17384433192774,
+            -188.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            344.5757681205744,
+            -187.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            341.9776919092211,
+            -185.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            339.3796156978678,
+            -184.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            336.7815394865145,
+            -182.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            334.18346327516116,
+            -181.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            331.58538706380784,
+            -179.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            328.9873108524545,
+            -178.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            326.3892346411012,
+            -176.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            323.7911584297479,
+            -175.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            321.1930822183946,
+            -173.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            318.59500600704126,
+            -172.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            315.99692979568795,
+            -170.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            313.39885358433463,
+            -169.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            310.8007773729813,
+            -167.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            308.202701161628,
+            -166.39697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            305.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            305.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            302.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            299.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            296.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            293.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            290.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            287.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            284.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            281.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            278.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            275.6046249502747,
+            -164.89697332527706,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            -152.0,
+            149.418
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-1-32_981512505/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-1-32_981512505/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6fd1e01490b6d95d5b6c48d540ec1f6452810d67
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-1-32_981512505/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            824.871487271292,
+            -1671.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            824.871487271292,
+            -1668.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            824.871487271292,
+            -1665.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            824.871487271292,
+            -1662.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            824.871487271292,
+            -1659.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            824.871487271292,
+            -1656.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            824.871487271292,
+            -1653.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            824.871487271292,
+            -1650.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            824.871487271292,
+            -1647.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            824.871487271292,
+            -1644.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            824.871487271292,
+            -1641.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            824.871487271292,
+            -1638.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            824.871487271292,
+            -1635.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            824.871487271292,
+            -1632.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            824.871487271292,
+            -1629.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            824.871487271292,
+            -1626.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            824.871487271292,
+            -1623.3570769316611,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            824.871487271292,
+            -1623.3570769316611,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            823.371487271292,
+            -1620.7590007203078,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            821.871487271292,
+            -1618.1609245089544,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            820.371487271292,
+            -1615.562848297601,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            818.871487271292,
+            -1612.9647720862476,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            812.0,
+            -1560.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-10-31_477223956/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-10-31_477223956/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..796cabe9b57aa7bf6821fe4b4ad0189357bf730e
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-10-31_477223956/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            593.1727825692743,
+            1058.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            593.1727825692743,
+            1055.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            593.1727825692743,
+            1052.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            593.1727825692743,
+            1049.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            593.1727825692743,
+            1046.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            593.1727825692743,
+            1043.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            593.1727825692743,
+            1040.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            593.1727825692743,
+            1037.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            593.1727825692743,
+            1034.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            593.1727825692743,
+            1031.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            593.1727825692743,
+            1028.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            593.1727825692743,
+            1025.666380434866,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            593.1727825692743,
+            1022.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            593.1727825692743,
+            1019.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            593.1727825692743,
+            1016.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            593.1727825692743,
+            1013.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            593.1727825692743,
+            1010.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            593.1727825692743,
+            1007.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            593.1727825692743,
+            1004.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            593.1727825692743,
+            1001.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            593.1727825692743,
+            998.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            593.1727825692743,
+            995.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            593.1727825692743,
+            992.6663804348659,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            593.1727825692743,
+            992.6663804348659,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            591.6727825692743,
+            990.0683042235125,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            590.1727825692743,
+            987.4702280121592,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            588.6727825692743,
+            984.8721518008058,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            587.1727825692743,
+            982.2740755894524,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            585.6727825692743,
+            979.675999378099,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            584.1727825692743,
+            977.0779231667457,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            582.6727825692743,
+            974.4798469553923,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            581.1727825692743,
+            971.8817707440389,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            579.6727825692743,
+            969.2836945326856,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            578.1727825692743,
+            966.6856183213322,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            576.6727825692743,
+            964.0875421099788,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            575.1727825692743,
+            961.4894658986254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            573.6727825692743,
+            958.8913896872721,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            572.1727825692743,
+            956.2933134759187,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            570.6727825692743,
+            953.6952372645653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            569.1727825692743,
+            951.097161053212,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            567.6727825692743,
+            948.4990848418586,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            560.0,
+            920.0,
+            216.131
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-12-43_1683673949/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-12-43_1683673949/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e18347c18c7e70a4e136bec79a1ed57bcf5bd2e9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-12-43_1683673949/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            154.66118985165497,
+            883.2654493755185,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            153.16118985165497,
+            880.6673731641652,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            151.66118985165497,
+            878.0692969528118,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            150.16118985165497,
+            875.4712207414584,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            148.66118985165497,
+            872.873144530105,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            147.16118985165497,
+            870.2750683187517,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            145.66118985165497,
+            867.6769921073983,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            144.16118985165497,
+            865.0789158960449,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            142.66118985165497,
+            862.4808396846915,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            141.16118985165497,
+            859.8827634733382,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            139.66118985165497,
+            857.2846872619848,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            138.16118985165497,
+            854.6866110506314,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            136.66118985165497,
+            852.088534839278,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            135.16118985165497,
+            849.4904586279247,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            133.66118985165497,
+            846.8923824165713,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            132.16118985165497,
+            844.2943062052179,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            130.66118985165497,
+            841.6962299938646,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            129.16118985165497,
+            839.0981537825112,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            127.66118985165497,
+            836.5000775711578,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            126.16118985165497,
+            833.9020013598044,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            124.66118985165497,
+            831.3039251484511,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            124.66118985165497,
+            831.3039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            122.06311364030165,
+            829.8039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            119.46503742894834,
+            828.3039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            116.86696121759502,
+            826.8039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            114.2688850062417,
+            825.3039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            111.67080879488839,
+            823.8039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            109.07273258353507,
+            822.3039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            106.47465637218176,
+            820.8039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            103.87658016082844,
+            819.3039251484511,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            101.27850394947512,
+            817.8039251484511,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            796.0,
+            203.339
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-15-58_2018186733/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-15-58_2018186733/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef7dc7f91e70b8d0370e74b90c5b9bbf7bfe99cf
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-15-58_2018186733/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            660.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            663.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            666.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            669.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            672.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            675.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            678.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            681.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            684.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            687.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            690.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            693.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            696.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            699.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            702.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            705.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            708.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            711.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            714.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            714.7314346511386,
+            -1259.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            717.3295108624918,
+            -1260.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            719.9275870738452,
+            -1262.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            722.5256632851986,
+            -1263.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            725.1237394965519,
+            -1265.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            727.7218157079053,
+            -1266.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.3198919192587,
+            -1268.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            732.917968130612,
+            -1269.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            735.5160443419654,
+            -1271.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            738.1141205533188,
+            -1272.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            740.7121967646722,
+            -1274.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            743.3102729760255,
+            -1275.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            745.9083491873789,
+            -1277.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            748.5064253987323,
+            -1278.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            751.1045016100857,
+            -1280.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            753.702577821439,
+            -1281.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            756.3006540327924,
+            -1283.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            758.8987302441458,
+            -1284.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            761.4968064554992,
+            -1286.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            764.0948826668525,
+            -1287.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            766.6929588782059,
+            -1289.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            769.2910350895593,
+            -1290.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            771.8891113009126,
+            -1292.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            774.487187512266,
+            -1293.8255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            777.0852637236194,
+            -1295.3255273808081,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            779.6833399349728,
+            -1296.8255273808081,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-28-52_303238858/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-28-52_303238858/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a9ea3399713ed7f6ab0052ead72371ccd0b00c0
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-28-52_303238858/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            823.8744407302725,
+            -1655.6614901554474,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            826.4725169416258,
+            -1657.1614901554474,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            829.0705931529792,
+            -1658.6614901554474,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            829.0705931529792,
+            -1658.6614901554474,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            830.5705931529792,
+            -1661.2595663668008,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            832.0705931529792,
+            -1663.8576425781541,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            833.5705931529792,
+            -1666.4557187895075,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            835.0705931529792,
+            -1669.0537950008609,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            836.5705931529792,
+            -1671.6518712122142,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            838.0705931529792,
+            -1674.2499474235676,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            839.5705931529792,
+            -1676.848023634921,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            841.0705931529792,
+            -1679.4460998462744,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            841.0705931529792,
+            -1679.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            841.0705931529792,
+            -1682.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            841.0705931529792,
+            -1685.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            841.0705931529792,
+            -1688.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            841.0705931529792,
+            -1691.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            841.0705931529792,
+            -1694.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            841.0705931529792,
+            -1697.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            841.0705931529792,
+            -1700.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            841.0705931529792,
+            -1703.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            841.0705931529792,
+            -1706.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            841.0705931529792,
+            -1709.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            841.0705931529792,
+            -1712.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            841.0705931529792,
+            -1715.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            841.0705931529792,
+            -1718.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            841.0705931529792,
+            -1721.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            841.0705931529792,
+            -1724.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            841.0705931529792,
+            -1727.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            841.0705931529792,
+            -1730.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            841.0705931529792,
+            -1733.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            841.0705931529792,
+            -1736.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            841.0705931529792,
+            -1739.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            841.0705931529792,
+            -1742.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            841.0705931529792,
+            -1745.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            841.0705931529792,
+            -1748.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            841.0705931529792,
+            -1751.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            841.0705931529792,
+            -1754.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            841.0705931529792,
+            -1757.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            841.0705931529792,
+            -1760.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            841.0705931529792,
+            -1763.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            841.0705931529792,
+            -1766.4460998462744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            841.0705931529792,
+            -1769.4460998462744,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            844.0,
+            -1788.0,
+            165.84
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-52_1901540637/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-52_1901540637/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e46c5a2969ec3cc3bdadd4399bcb44d1d1c18ba8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-41-52_1901540637/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            305.14244304429263,
+            130.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            302.5443668329393,
+            131.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            299.946290621586,
+            133.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            297.3482144102327,
+            134.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            294.75013819887937,
+            136.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            292.15206198752605,
+            137.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            289.55398577617274,
+            139.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            286.9559095648194,
+            140.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            284.3578333534661,
+            142.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            281.7597571421128,
+            143.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            279.1616809307595,
+            145.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            276.56360471940616,
+            146.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            273.96552850805284,
+            148.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            271.3674522966995,
+            149.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            268.7693760853462,
+            151.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            266.1712998739929,
+            152.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            263.5732236626396,
+            154.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            260.97514745128626,
+            155.96010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            258.37707123993295,
+            157.46010010751013,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            258.37707123993295,
+            157.46010010751013,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            256.87707123993295,
+            160.05817631886345,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            255.37707123993295,
+            162.65625253021676,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            253.87707123993295,
+            165.25432874157008,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            252.37707123993295,
+            167.8524049529234,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            250.87707123993295,
+            170.4504811642767,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            249.37707123993295,
+            173.04855737563003,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            247.87707123993295,
+            175.64663358698334,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            200.0,
+            216.0,
+            361.985
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-43-24_320401392/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-43-24_320401392/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b686365cf848e0b6d50d01bfa400518753415e55
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-43-24_320401392/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            557.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            560.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            563.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            566.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            569.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            572.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            575.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            578.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            581.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            581.1946898473491,
+            972.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            583.7927660587025,
+            971.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            586.3908422700558,
+            969.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            588.9889184814092,
+            968.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            591.5869946927626,
+            966.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            594.185070904116,
+            965.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            596.7831471154693,
+            963.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            599.3812233268227,
+            962.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            601.9792995381761,
+            960.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            604.5773757495294,
+            959.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            607.1754519608828,
+            957.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            609.7735281722362,
+            956.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            612.3716043835896,
+            954.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            614.9696805949429,
+            953.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            617.5677568062963,
+            951.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            620.1658330176497,
+            950.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            622.763909229003,
+            948.8265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            625.3619854403564,
+            947.3265703497395,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            627.9600616517098,
+            945.8265703497395,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            656.0,
+            936.0,
+            215.703
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-44-36_910053150/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-44-36_910053150/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca56975ba78b6c35d31ded357042a85663b44f70
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-44-36_910053150/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            304.4565079644491,
+            100.08489603165482,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            302.9565079644491,
+            102.68297224300814,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            301.4565079644491,
+            105.28104845436145,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            299.9565079644491,
+            107.87912466571477,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            298.4565079644491,
+            110.47720087706809,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            296.9565079644491,
+            113.0752770884214,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            295.4565079644491,
+            115.67335329977472,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            293.9565079644491,
+            118.27142951112803,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            292.4565079644491,
+            120.86950572248135,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            290.9565079644491,
+            123.46758193383467,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            289.4565079644491,
+            126.06565814518798,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            287.9565079644491,
+            128.66373435654128,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393198
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            286.4565079644491,
+            131.2618105678946,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            284.9565079644491,
+            133.85988677924792,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            284.9565079644491,
+            133.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            282.3584317530958,
+            135.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            279.76035554174246,
+            136.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            277.16227933038914,
+            138.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            274.5642031190358,
+            139.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            271.9661269076825,
+            141.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            269.3680506963292,
+            142.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            266.7699744849759,
+            144.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            264.17189827362256,
+            145.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            261.57382206226924,
+            147.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            258.9757458509159,
+            148.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            256.3776696395626,
+            150.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            253.7795934282093,
+            151.85988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            251.18151721685598,
+            153.35988677924792,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            251.18151721685598,
+            153.35988677924792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            249.68151721685598,
+            155.95796299060123,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            248.18151721685598,
+            158.55603920195455,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            180.0,
+            396.289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-48-51_2095802345/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-48-51_2095802345/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..970ffecc97a2a80594db8b85b3f907e987f83727
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-48-51_2095802345/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            975.255532323097,
+            -1307.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            972.6574561117436,
+            -1309.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            970.0593799003902,
+            -1310.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            967.4613036890369,
+            -1312.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            964.8632274776835,
+            -1313.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            962.2651512663301,
+            -1315.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            959.6670750549767,
+            -1316.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            957.0689988436234,
+            -1318.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            954.47092263227,
+            -1319.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            951.8728464209166,
+            -1321.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            949.2747702095633,
+            -1322.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            946.6766939982099,
+            -1324.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            944.0786177868565,
+            -1325.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            941.4805415755031,
+            -1327.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            938.8824653641498,
+            -1328.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            936.2843891527964,
+            -1330.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            933.686312941443,
+            -1331.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            931.0882367300896,
+            -1333.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            928.4901605187363,
+            -1334.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            925.8920843073829,
+            -1336.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            923.2940080960295,
+            -1337.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            920.6959318846762,
+            -1339.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            918.0978556733228,
+            -1340.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            915.4997794619694,
+            -1342.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            912.901703250616,
+            -1343.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            910.3036270392627,
+            -1345.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            907.7055508279093,
+            -1346.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            905.1074746165559,
+            -1348.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            902.5093984052025,
+            -1349.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            899.9113221938492,
+            -1351.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            897.3132459824958,
+            -1352.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            894.7151697711424,
+            -1354.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            892.117093559789,
+            -1355.7608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            889.5190173484357,
+            -1357.2608511622668,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            889.5190173484357,
+            -1357.2608511622668,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            888.0190173484357,
+            -1359.8589273736202,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            886.5190173484357,
+            -1362.4570035849736,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            885.0190173484357,
+            -1365.055079796327,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            883.5190173484357,
+            -1367.6531560076803,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            882.0190173484357,
+            -1370.2512322190337,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            880.5190173484357,
+            -1372.849308430387,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            879.0190173484357,
+            -1375.4473846417404,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            877.5190173484357,
+            -1378.0454608530938,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            876.0190173484357,
+            -1380.6435370644472,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            874.5190173484357,
+            -1383.2416132758005,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1396.0,
+            145.913
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-52-53_376875057/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-52-53_376875057/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8178e17be28e033c552ed93c8f4c9c070663d42c
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-52-53_376875057/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            908.6588701058671,
+            -1532.963814332615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            907.1588701058671,
+            -1530.3657381212615,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            905.6588701058671,
+            -1527.7676619099082,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            904.1588701058671,
+            -1525.1695856985548,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            902.6588701058671,
+            -1522.5715094872014,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            901.1588701058671,
+            -1519.973433275848,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            899.6588701058671,
+            -1517.3753570644947,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            898.1588701058671,
+            -1514.7772808531413,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            896.6588701058671,
+            -1512.179204641788,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            895.1588701058671,
+            -1509.5811284304345,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            893.6588701058671,
+            -1506.9830522190812,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            892.1588701058671,
+            -1504.3849760077278,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            890.6588701058671,
+            -1501.7868997963744,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            889.1588701058671,
+            -1499.188823585021,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            887.6588701058671,
+            -1496.5907473736677,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            887.6588701058671,
+            -1496.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            887.6588701058671,
+            -1493.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            887.6588701058671,
+            -1490.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            887.6588701058671,
+            -1487.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            887.6588701058671,
+            -1484.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            887.6588701058671,
+            -1481.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            887.6588701058671,
+            -1478.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            887.6588701058671,
+            -1475.5907473736677,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            887.6588701058671,
+            -1472.5907473736677,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            860.0,
+            -1396.0,
+            145.913
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-50_1578037126/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-50_1578037126/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4dbe0165095caddcab82a0f38ab56beb85968ec
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-53-50_1578037126/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            468.22300060975596,
+            497.93165909637924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            468.22300060975596,
+            500.93165909637924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            468.22300060975596,
+            503.93165909637924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            468.22300060975596,
+            506.93165909637924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            468.22300060975596,
+            509.93165909637924,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            468.22300060975596,
+            512.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            468.22300060975596,
+            515.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            468.22300060975596,
+            518.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            468.22300060975596,
+            521.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            468.22300060975596,
+            524.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            468.22300060975596,
+            527.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            468.22300060975596,
+            530.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            468.22300060975596,
+            533.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            468.22300060975596,
+            536.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            468.22300060975596,
+            539.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            468.22300060975596,
+            542.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            468.22300060975596,
+            545.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            468.22300060975596,
+            548.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            468.22300060975596,
+            551.9316590963792,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            468.22300060975596,
+            554.9316590963792,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            464.0,
+            608.0,
+            143.444
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-5_602569078/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-5_602569078/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13839153c2caf46689c1cbaedaa61b7b2cf849fe
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_3-54-5_602569078/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            194.69107232033824,
+            616.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            192.09299610898492,
+            618.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            189.4949198976316,
+            619.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            186.8968436862783,
+            621.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            184.29876747492497,
+            622.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            181.70069126357166,
+            624.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            179.10261505221834,
+            625.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            176.50453884086502,
+            627.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            173.9064626295117,
+            628.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            171.3083864181584,
+            630.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            168.71031020680508,
+            631.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            166.11223399545176,
+            633.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            163.51415778409844,
+            634.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            160.91608157274513,
+            636.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            158.3180053613918,
+            637.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            155.7199291500385,
+            639.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            153.12185293868518,
+            640.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            150.52377672733186,
+            642.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            147.92570051597855,
+            643.5542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            145.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            145.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            142.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            139.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            136.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            133.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            130.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            127.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            124.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            121.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            118.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            115.32762430462523,
+            645.0542512856483,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            660.0,
+            189.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-16-46_1930334779/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-16-46_1930334779/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c714178bcfc1e5663b2bd9a85478ec71d5935314
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-16-46_1930334779/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -284.761910919686,
+            642.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -284.761910919686,
+            645.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -284.761910919686,
+            648.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -284.761910919686,
+            651.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -284.761910919686,
+            654.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -284.761910919686,
+            657.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -284.761910919686,
+            660.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -284.761910919686,
+            663.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -284.761910919686,
+            666.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -284.761910919686,
+            669.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -284.761910919686,
+            672.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -284.761910919686,
+            675.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -284.761910919686,
+            678.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -284.761910919686,
+            681.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -284.761910919686,
+            684.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -284.761910919686,
+            687.5051933992586,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -284.761910919686,
+            687.5051933992586,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -283.261910919686,
+            690.103269610612,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -281.761910919686,
+            692.7013458219653,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -280.261910919686,
+            695.2994220333187,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -272.0,
+            780.0,
+            338.618
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-20-19_900874211/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-20-19_900874211/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8de08a13cb08ac9f38f635eac5404d87bdee859f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-20-19_900874211/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            88.72281353767929,
+            520.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            88.72281353767929,
+            523.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            88.72281353767929,
+            526.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            88.72281353767929,
+            529.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            88.72281353767929,
+            532.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            88.72281353767929,
+            535.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            88.72281353767929,
+            538.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            88.72281353767929,
+            541.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            88.72281353767929,
+            544.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            88.72281353767929,
+            547.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            88.72281353767929,
+            550.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            88.72281353767929,
+            553.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            88.72281353767929,
+            556.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            88.72281353767929,
+            559.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            88.72281353767929,
+            562.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            88.72281353767929,
+            565.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            88.72281353767929,
+            568.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            88.72281353767929,
+            571.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            88.72281353767929,
+            574.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            88.72281353767929,
+            577.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            88.72281353767929,
+            580.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            88.72281353767929,
+            583.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            88.72281353767929,
+            586.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            88.72281353767929,
+            589.9916724841613,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            88.72281353767929,
+            589.9916724841613,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            88.72281353767929,
+            589.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            86.12473732632597,
+            591.4916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            83.52666111497265,
+            592.9916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            80.92858490361934,
+            594.4916724841613,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            80.92858490361934,
+            594.4916724841613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            79.42858490361934,
+            597.0897486955146,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            77.92858490361934,
+            599.687824906868,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            68.0,
+            660.0,
+            189.14
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-23-28_1827946632/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-23-28_1827946632/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a39f7f7b99c5929ab4b1d4d1d9d433f7a68b0d9
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-23-28_1827946632/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            942.0968213313386,
+            -1671.681735349387,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            940.5968213313386,
+            -1674.2798115607404,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            939.0968213313386,
+            -1676.8778877720938,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            937.5968213313386,
+            -1679.4759639834472,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            936.0968213313386,
+            -1682.0740401948005,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            934.5968213313386,
+            -1684.672116406154,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            933.0968213313386,
+            -1687.2701926175073,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            931.5968213313386,
+            -1689.8682688288607,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            930.0968213313386,
+            -1692.466345040214,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            928.5968213313386,
+            -1695.0644212515674,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            927.0968213313386,
+            -1697.6624974629208,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            925.5968213313386,
+            -1700.2605736742742,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            924.0968213313386,
+            -1702.8586498856275,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            922.5968213313386,
+            -1705.456726096981,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            921.0968213313386,
+            -1708.0548023083343,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            919.5968213313386,
+            -1710.6528785196876,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            918.0968213313386,
+            -1713.250954731041,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            916.5968213313386,
+            -1715.8490309423944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            915.0968213313386,
+            -1718.4471071537478,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            913.5968213313386,
+            -1721.0451833651011,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            912.0968213313386,
+            -1723.6432595764545,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            910.5968213313386,
+            -1726.2413357878079,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            909.0968213313386,
+            -1728.8394119991613,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            907.5968213313386,
+            -1731.4374882105146,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            906.0968213313386,
+            -1734.035564421868,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            904.5968213313386,
+            -1736.6336406332214,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            903.0968213313386,
+            -1739.2317168445747,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            901.5968213313386,
+            -1741.8297930559281,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            901.5968213313386,
+            -1741.8297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            898.9987451199852,
+            -1743.3297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            896.4006689086318,
+            -1744.8297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            893.8025926972784,
+            -1746.3297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            891.2045164859251,
+            -1747.8297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            888.6064402745717,
+            -1749.3297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            886.0083640632183,
+            -1750.8297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            883.410287851865,
+            -1752.3297930559281,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            880.8122116405116,
+            -1753.8297930559281,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            868.0,
+            -1768.0,
+            146.0
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-30-38_121248617/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-30-38_121248617/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d3ed3392204355cc2893a0c3b58542136b55fca8
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-30-38_121248617/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -384.80842291656097,
+            32.856604857594576,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -383.30842291656097,
+            35.45468106894789,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -381.80842291656097,
+            38.05275728030121,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -380.30842291656097,
+            40.650833491654524,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -378.80842291656097,
+            43.24890970300784,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -377.30842291656097,
+            45.846985914361156,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -375.80842291656097,
+            48.44506212571447,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -374.30842291656097,
+            51.04313833706779,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -372.80842291656097,
+            53.641214548421104,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -371.30842291656097,
+            56.23929075977442,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -369.80842291656097,
+            58.837366971127736,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -368.30842291656097,
+            61.43544318248105,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -366.80842291656097,
+            64.03351939383437,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -365.30842291656097,
+            66.63159560518768,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -363.80842291656097,
+            69.229671816541,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -362.30842291656097,
+            71.82774802789432,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -360.80842291656097,
+            74.42582423924763,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -360.80842291656097,
+            74.42582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -358.21034670520766,
+            75.92582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -355.61227049385434,
+            77.42582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -353.014194282501,
+            78.92582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -350.4161180711477,
+            80.42582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -347.8180418597944,
+            81.92582423924763,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -345.2199656484411,
+            83.42582423924763,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -320.0,
+            116.0,
+            153.562
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-32-58_1727671564/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-32-58_1727671564/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..127e4a2a07b9b9c72790e4b174709b8c9b3fb13f
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-32-58_1727671564/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            503.8939110265138,
+            -54.64882755631726,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            505.3939110265138,
+            -52.05075134496394,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            506.8939110265138,
+            -49.452675133610626,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            508.3939110265138,
+            -46.85459892225731,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            509.8939110265138,
+            -44.256522710903994,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            511.3939110265138,
+            -41.65844649955068,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            512.8939110265138,
+            -39.06037028819736,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            514.3939110265138,
+            -36.462294076844046,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            515.8939110265138,
+            -33.86421786549073,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            517.3939110265138,
+            -31.266141654137414,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            518.8939110265138,
+            -28.668065442784098,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            520.3939110265138,
+            -26.06998923143078,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            521.8939110265138,
+            -23.471913020077466,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            523.3939110265138,
+            -20.87383680872415,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            524.8939110265138,
+            -18.275760597370834,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            526.3939110265138,
+            -15.677684386017518,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            527.8939110265138,
+            -13.079608174664202,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            529.3939110265138,
+            -10.481531963310886,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            530.8939110265138,
+            -7.88345575195757,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            532.3939110265138,
+            -5.285379540604254,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            533.8939110265138,
+            -2.6873033292509376,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            535.3939110265138,
+            -0.08922711789762161,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            536.8939110265138,
+            2.5088490934556944,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            538.3939110265138,
+            5.10692530480901,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            539.8939110265138,
+            7.705001516162326,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            541.3939110265138,
+            10.303077727515642,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            542.8939110265138,
+            12.901153938868958,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            544.3939110265138,
+            15.499230150222274,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            545.8939110265138,
+            18.09730636157559,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            547.3939110265138,
+            20.695382572928906,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            548.8939110265138,
+            23.293458784282222,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            550.3939110265138,
+            25.89153499563554,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            551.8939110265138,
+            28.489611206988855,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            553.3939110265138,
+            31.08768741834217,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            554.8939110265138,
+            33.68576362969549,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            556.3939110265138,
+            36.2838398410488,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            557.8939110265138,
+            38.88191605240212,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            559.3939110265138,
+            41.479992263755435,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            559.3939110265138,
+            41.479992263755435,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            561.9919872378671,
+            42.979992263755435,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            576.0,
+            68.0,
+            235.931
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-36-23_1035317824/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-36-23_1035317824/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a6a61cada474831cb2cb2c5edadebce5ae3ef18
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-36-23_1035317824/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            199.94331581037548,
+            863.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            197.34523959902216,
+            861.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            194.74716338766885,
+            860.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            192.14908717631553,
+            858.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            189.55101096496222,
+            857.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            186.9529347536089,
+            855.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            184.35485854225558,
+            854.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            181.75678233090227,
+            852.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            179.15870611954895,
+            851.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            176.56062990819564,
+            849.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            173.96255369684232,
+            848.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            171.364477485489,
+            846.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            168.7664012741357,
+            845.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            166.16832506278237,
+            843.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            163.57024885142906,
+            842.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            160.97217264007574,
+            840.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            158.37409642872242,
+            839.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            155.7760202173691,
+            837.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            153.1779440060158,
+            836.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            150.57986779466248,
+            834.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            147.98179158330916,
+            833.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            145.38371537195584,
+            831.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            142.78563916060253,
+            830.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            140.1875629492492,
+            828.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            137.5894867378959,
+            827.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            134.99141052654258,
+            825.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            132.39333431518926,
+            824.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            129.79525810383595,
+            822.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            127.19718189248263,
+            821.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            124.59910568112932,
+            819.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            122.001029469776,
+            818.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            119.40295325842268,
+            816.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            116.80487704706937,
+            815.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            114.20680083571605,
+            813.6156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            111.60872462436274,
+            812.1156633193445,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            109.01064841300942,
+            810.6156633193445,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            796.0,
+            203.339
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-10_831083598/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-10_831083598/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..054cb1a83f3323e2ff5791d3fb349827858a42ef
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-48-10_831083598/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            699.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            702.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            705.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            708.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            711.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            714.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            717.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            720.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            723.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            726.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            729.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            732.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            735.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            738.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            741.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            744.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            747.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            750.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            750.0874184229355,
+            -1284.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            752.6854946342887,
+            -1285.8637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            755.2835708456421,
+            -1287.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            757.8816470569955,
+            -1288.8637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            760.4797232683488,
+            -1290.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            763.0777994797022,
+            -1291.8637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            765.6758756910556,
+            -1293.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            768.273951902409,
+            -1294.8637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            770.8720281137623,
+            -1296.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            773.4701043251157,
+            -1297.8637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            776.0681805364691,
+            -1299.3637740382999,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            778.6662567478224,
+            -1300.8637740382999,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            800.0,
+            -1304.0,
+            163.632
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-49-55_1708403454/pose.jsonl b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-49-55_1708403454/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d96608711eb00a6aea3488a18f1b84f07a155cd3
--- /dev/null
+++ b/Image/env_airsim_sh/astar_data/high_average/2025-1-11_4-49-55_1708403454/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            719.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            722.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            725.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            728.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            731.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            734.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            737.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            737.6463000006037,
+            -1479.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            740.2443762119569,
+            -1480.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            742.8424524233103,
+            -1482.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            745.4405286346637,
+            -1483.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            748.038604846017,
+            -1485.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            750.6366810573704,
+            -1486.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            753.2347572687238,
+            -1488.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            755.8328334800772,
+            -1489.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            758.4309096914305,
+            -1491.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            761.0289859027839,
+            -1492.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            763.6270621141373,
+            -1494.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            766.2251383254907,
+            -1495.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            768.823214536844,
+            -1497.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            771.4212907481974,
+            -1498.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            774.0193669595508,
+            -1500.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            776.6174431709042,
+            -1501.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            779.2155193822575,
+            -1503.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            781.8135955936109,
+            -1504.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            784.4116718049643,
+            -1506.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            787.0097480163176,
+            -1507.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            789.607824227671,
+            -1509.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            792.2059004390244,
+            -1510.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            794.8039766503778,
+            -1512.1532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            797.4020528617311,
+            -1513.6532813353754,
+            156.84788500608087
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            797.4020528617311,
+            -1513.6532813353754,
+            156.84788500608087
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            800.4020528617311,
+            -1513.6532813353754,
+            156.84788500608087
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            816.0,
+            -1520.0,
+            146.15
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}