diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-48-25_530844/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-48-25_530844/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..38a9cf2979d841de9673f79c55c3e528ffc60a93
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-48-25_530844/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1824.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1827.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1830.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1833.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1836.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1839.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1839.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1839.762697331977,
+            149.0768546276402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1841.262697331977,
+            146.47877841628687,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1842.762697331977,
+            143.88070220493356,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1844.262697331977,
+            141.28262599358024,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1845.762697331977,
+            138.68454978222692,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1845.762697331977,
+            138.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1845.762697331977,
+            138.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1848.3607735433304,
+            137.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1850.9588497546838,
+            135.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1853.5569259660372,
+            134.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1856.1550021773905,
+            132.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1858.753078388744,
+            131.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1861.3511546000973,
+            129.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1863.9492308114507,
+            128.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1866.547307022804,
+            126.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1869.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1869.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1872.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1875.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1878.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1881.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1884.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1887.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1890.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1893.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1896.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1899.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1902.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1905.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1908.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1911.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1914.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1917.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1920.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1923.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1926.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1926.1453832341574,
+            125.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1928.7434594455108,
+            126.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1931.3415356568642,
+            128.18454978222692,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1933.9396118682175,
+            129.68454978222692,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1933.9396118682175,
+            129.68454978222692,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-59-24_361580/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-59-24_361580/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fd916746cd628fb29c396d7f931cecdd4968c624
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_21-59-24_361580/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1358.8181402338002,
+            376.17497017977894,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1357.3181402338002,
+            373.5768939684256,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1355.8181402338002,
+            370.9788177570723,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1354.3181402338002,
+            368.380741545719,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1352.8181402338002,
+            365.7826653343657,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1351.3181402338002,
+            363.18458912301236,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1349.8181402338002,
+            360.58651291165904,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1348.3181402338002,
+            357.9884367003057,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1346.8181402338002,
+            355.3903604889524,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1345.3181402338002,
+            352.7922842775991,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1343.8181402338002,
+            350.1942080662458,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1342.3181402338002,
+            347.59613185489246,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1340.8181402338002,
+            344.99805564353915,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1339.3181402338002,
+            342.39997943218583,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1337.8181402338002,
+            339.8019032208325,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1336.3181402338002,
+            337.2038270094792,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1334.8181402338002,
+            334.6057507981259,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1334.8181402338002,
+            334.6057507981259,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1332.2200640224469,
+            333.1057507981259,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1329.6219878110935,
+            331.6057507981259,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1327.0239115997401,
+            330.1057507981259,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1324.4258353883868,
+            328.6057507981259,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1324.4258353883868,
+            328.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1321.8277591770334,
+            327.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1319.22968296568,
+            325.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1316.6316067543266,
+            324.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1314.0335305429733,
+            322.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1311.43545433162,
+            321.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1308.8373781202665,
+            319.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1306.2393019089131,
+            318.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1303.6412256975598,
+            316.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1301.0431494862064,
+            315.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1298.445073274853,
+            313.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1295.8469970634997,
+            312.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1293.2489208521463,
+            310.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1290.650844640793,
+            309.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1288.0527684294395,
+            307.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1285.4546922180862,
+            306.1057507981259,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1282.8566160067328,
+            304.6057507981259,
+            -23.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1260.0,
+            284.0,
+            -29.5371
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-04-19_843187/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-04-19_843187/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00dc5c9c57aabfdae61dbda52da5a768f973ab42
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-04-19_843187/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            179.5995343882022,
+            -277.7339728197065,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            179.5995343882022,
+            -277.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            179.5995343882022,
+            -277.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            179.5995343882022,
+            -277.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            179.5995343882022,
+            -277.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            179.5995343882022,
+            -280.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            179.5995343882022,
+            -283.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            179.5995343882022,
+            -283.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            179.5995343882022,
+            -283.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            177.00145817684887,
+            -285.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            174.40338196549556,
+            -286.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            171.80530575414224,
+            -288.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            169.20722954278892,
+            -289.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            166.6091533314356,
+            -291.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            164.0110771200823,
+            -292.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            161.41300090872897,
+            -294.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            158.81492469737566,
+            -295.7339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            156.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            156.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            153.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            150.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            147.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            144.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            141.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            138.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            135.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            132.21684848602234,
+            -297.2339728197065,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            132.21684848602234,
+            -297.2339728197065,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            -316.0,
+            -30.1698
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-25-24_990892921/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-25-24_990892921/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ab3cd139b38fdfcef8d1278dd261ead53a472168
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-25-24_990892921/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            26.296597876690306,
+            111.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            26.296597876690306,
+            108.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            26.296597876690306,
+            105.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            26.296597876690306,
+            102.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            26.296597876690306,
+            99.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            26.296597876690306,
+            96.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            26.296597876690306,
+            93.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            26.296597876690306,
+            90.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            26.296597876690306,
+            87.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            26.296597876690306,
+            84.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            26.296597876690306,
+            81.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            26.296597876690306,
+            78.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            26.296597876690306,
+            75.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            26.296597876690306,
+            72.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            26.296597876690306,
+            69.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            26.296597876690306,
+            66.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            26.296597876690306,
+            63.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            26.296597876690306,
+            60.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            26.296597876690306,
+            57.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            26.296597876690306,
+            54.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            26.296597876690306,
+            51.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            26.296597876690306,
+            48.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            26.296597876690306,
+            45.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            26.296597876690306,
+            45.5531163507202,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            24.796597876690306,
+            42.955040139366886,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            23.296597876690306,
+            40.35696392801357,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            21.796597876690306,
+            37.758887716660254,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            20.296597876690306,
+            35.16081150530694,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            18.796597876690306,
+            32.56273529395362,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            17.296597876690306,
+            29.964659082600306,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            15.796597876690306,
+            27.36658287124699,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            8.0,
+            1.51296
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-41_1239036029/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-41_1239036029/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88d29099faf1956897f26ec679c6cc99159bee21
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-35-41_1239036029/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1208.499426265224,
+            771.9682901084338,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1209.999426265224,
+            769.3702138970805,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1211.499426265224,
+            766.7721376857271,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1212.999426265224,
+            764.1740614743737,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1214.499426265224,
+            761.5759852630204,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1215.999426265224,
+            758.977909051667,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1217.499426265224,
+            756.3798328403136,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1218.999426265224,
+            753.7817566289602,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1220.499426265224,
+            751.1836804176069,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1221.999426265224,
+            748.5856042062535,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1223.499426265224,
+            745.9875279949001,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1224.999426265224,
+            743.3894517835467,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1226.499426265224,
+            740.7913755721934,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1227.999426265224,
+            738.19329936084,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1229.499426265224,
+            735.5952231494866,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1230.999426265224,
+            732.9971469381333,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1232.499426265224,
+            730.3990707267799,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1233.999426265224,
+            727.8009945154265,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1235.499426265224,
+            725.2029183040731,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1236.999426265224,
+            722.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1236.999426265224,
+            722.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1239.5975024765773,
+            721.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1242.1955786879307,
+            719.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1244.793654899284,
+            718.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1247.3917311106375,
+            716.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1249.9898073219908,
+            715.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1252.5878835333442,
+            713.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1255.1859597446976,
+            712.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1257.784035956051,
+            710.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1260.3821121674043,
+            709.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1262.9801883787577,
+            707.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1265.578264590111,
+            706.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1268.1763408014644,
+            704.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1270.7744170128178,
+            703.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1273.3724932241712,
+            701.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1275.9705694355246,
+            700.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1278.568645646878,
+            698.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1281.1667218582313,
+            697.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1283.7647980695847,
+            695.6048420927198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1286.362874280938,
+            694.1048420927198,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1304.0,
+            676.0,
+            -29.4592
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-54-36_87755422/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-54-36_87755422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..db8a9a7849660e0298219cbcfc23de1114afc913
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-54-36_87755422/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1444.799750744481,
+            250.4303447671378,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1447.799750744481,
+            250.4303447671378,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1447.799750744481,
+            250.4303447671378,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1447.799750744481,
+            250.4303447671378,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1449.299750744481,
+            247.83226855578448,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1450.799750744481,
+            245.23419234443116,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1452.299750744481,
+            242.63611613307785,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1453.799750744481,
+            240.03803992172453,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1455.299750744481,
+            237.43996371037122,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1456.799750744481,
+            234.8418874990179,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1458.299750744481,
+            232.24381128766458,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1459.799750744481,
+            229.64573507631127,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1461.299750744481,
+            227.04765886495795,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1462.799750744481,
+            224.44958265360464,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1464.299750744481,
+            221.85150644225132,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1465.799750744481,
+            219.253430230898,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1467.299750744481,
+            216.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1467.299750744481,
+            216.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1469.8978269558343,
+            215.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1472.4959031671876,
+            213.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1475.093979378541,
+            212.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1477.6920555898944,
+            210.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1480.2901318012478,
+            209.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1482.8882080126011,
+            207.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1485.4862842239545,
+            206.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1488.0843604353079,
+            204.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1490.6824366466612,
+            203.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1493.2805128580146,
+            201.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1495.878589069368,
+            200.1553540195447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1498.4766652807214,
+            198.6553540195447,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1516.0,
+            180.0,
+            -29.3652
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-56-16_745425661/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-56-16_745425661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ce4c04888e81c86ea9defb0aa08b5053ebfb4307
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-56-16_745425661/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1784.4236996222287,
+            740.3403642080896,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1785.9236996222287,
+            742.9384404194429,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1787.4236996222287,
+            745.5365166307963,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1788.9236996222287,
+            748.1345928421497,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1790.4236996222287,
+            750.7326690535031,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1791.9236996222287,
+            753.3307452648564,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1793.4236996222287,
+            755.9288214762098,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1794.9236996222287,
+            758.5268976875632,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1796.4236996222287,
+            761.1249738989166,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1797.9236996222287,
+            763.7230501102699,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1799.4236996222287,
+            766.3211263216233,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1800.9236996222287,
+            768.9192025329767,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1802.4236996222287,
+            771.51727874433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1803.9236996222287,
+            774.1153549556834,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1803.9236996222287,
+            774.1153549556834,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1806.521775833582,
+            775.6153549556834,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1809.1198520449354,
+            777.1153549556834,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1811.7179282562888,
+            778.6153549556834,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1814.3160044676422,
+            780.1153549556834,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1814.3160044676422,
+            780.1153549556834,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1815.8160044676422,
+            782.7134311670368,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1817.3160044676422,
+            785.3115073783902,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1818.8160044676422,
+            787.9095835897435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1820.3160044676422,
+            790.5076598010969,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1821.8160044676422,
+            793.1057360124503,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1823.3160044676422,
+            795.7038122238037,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1824.8160044676422,
+            798.301888435157,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1826.3160044676422,
+            800.8999646465104,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1827.8160044676422,
+            803.4980408578638,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1829.3160044676422,
+            806.0961170692171,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1830.8160044676422,
+            808.6941932805705,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1832.3160044676422,
+            811.2922694919239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1833.8160044676422,
+            813.8903457032773,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1833.8160044676422,
+            813.8903457032773,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1836.4140806789956,
+            815.3903457032773,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1839.012156890349,
+            816.8903457032773,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1856.0,
+            840.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-54_1856669179/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-54_1856669179/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..57e2ad8cdec18328b6ed863c6825986c1a35bc09
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-13-54_1856669179/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1309.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1306.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1303.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1300.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1297.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1294.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1294.0608153541993,
+            -296.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1291.462739142846,
+            -295.38176576389617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1288.8646629314926,
+            -293.88176576389617,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1192.0,
+            -272.0,
+            -29.3198
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-9-7_2025187190/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-9-7_2025187190/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..de11ecaa6bee2358443af16c66685c000f01e2f7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-9-7_2025187190/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            560.79262784426,
+            477.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            560.79262784426,
+            480.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            560.79262784426,
+            483.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            560.79262784426,
+            486.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            560.79262784426,
+            489.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            560.79262784426,
+            492.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            560.79262784426,
+            495.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            560.79262784426,
+            498.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            560.79262784426,
+            501.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            560.79262784426,
+            504.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            560.79262784426,
+            507.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            560.79262784426,
+            510.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            560.79262784426,
+            513.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            560.79262784426,
+            516.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            560.79262784426,
+            519.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            560.79262784426,
+            522.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            560.79262784426,
+            525.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            560.79262784426,
+            528.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            560.79262784426,
+            531.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            560.79262784426,
+            534.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            560.79262784426,
+            537.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            560.79262784426,
+            540.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            560.79262784426,
+            543.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            560.79262784426,
+            546.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            560.79262784426,
+            549.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            560.79262784426,
+            552.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            560.79262784426,
+            555.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            560.79262784426,
+            558.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            560.79262784426,
+            561.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            560.79262784426,
+            564.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            560.79262784426,
+            567.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            560.79262784426,
+            570.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            560.79262784426,
+            573.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            560.79262784426,
+            576.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            560.79262784426,
+            579.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            560.79262784426,
+            582.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            560.79262784426,
+            582.4127107743125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            559.29262784426,
+            585.0107869856658,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            557.79262784426,
+            587.6088631970192,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            556.29262784426,
+            590.2069394083726,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            554.79262784426,
+            592.805015619726,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            553.29262784426,
+            595.4030918310793,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            551.79262784426,
+            598.0011680424327,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            624.0,
+            -30.1696
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-28-38_1255387090/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-28-38_1255387090/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..03635980e075e8809c2af0d14e5d7d4a9dba343e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-28-38_1255387090/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1696.6473200410428,
+            734.3936711020189,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1695.1473200410428,
+            736.9917473133721,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1693.6473200410428,
+            739.5898235247255,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1692.1473200410428,
+            742.1878997360789,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1690.6473200410428,
+            744.7859759474322,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1689.1473200410428,
+            747.3840521587856,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1687.6473200410428,
+            749.982128370139,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1686.1473200410428,
+            752.5802045814924,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1684.6473200410428,
+            755.1782807928457,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1683.1473200410428,
+            757.7763570041991,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1681.6473200410428,
+            760.3744332155525,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1680.1473200410428,
+            762.9725094269058,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1678.6473200410428,
+            765.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1678.6473200410428,
+            765.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1678.6473200410428,
+            768.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1678.6473200410428,
+            771.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1678.6473200410428,
+            774.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1678.6473200410428,
+            777.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1678.6473200410428,
+            780.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1678.6473200410428,
+            783.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1678.6473200410428,
+            786.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1678.6473200410428,
+            789.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1678.6473200410428,
+            792.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1678.6473200410428,
+            795.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1678.6473200410428,
+            795.5705856382592,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1677.1473200410428,
+            798.1686618496126,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1675.6473200410428,
+            800.766738060966,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1674.1473200410428,
+            803.3648142723193,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1672.6473200410428,
+            805.9628904836727,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1671.1473200410428,
+            808.5609666950261,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1671.1473200410428,
+            808.5609666950261,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1668.5492438296894,
+            810.0609666950261,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1665.951167618336,
+            811.5609666950261,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1656.0,
+            836.0,
+            -29.4139
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-39-45_1434433518/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-39-45_1434433518/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..62fe3974b34d6ad5fecce4d4dada811941d5be0e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-39-45_1434433518/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            512.0107277345734,
+            1.8168305403271887,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            513.5107277345734,
+            4.414906751680505,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            515.0107277345734,
+            7.012982963033821,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            516.5107277345734,
+            9.611059174387137,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            518.0107277345734,
+            12.209135385740453,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            519.5107277345734,
+            14.807211597093769,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            521.0107277345734,
+            17.405287808447085,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            522.5107277345734,
+            20.0033640198004,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            524.0107277345734,
+            22.601440231153717,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            525.5107277345734,
+            25.199516442507033,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            527.0107277345734,
+            27.79759265386035,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            528.5107277345734,
+            30.395668865213665,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            530.0107277345734,
+            32.99374507656698,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            531.5107277345734,
+            35.5918212879203,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            533.0107277345734,
+            38.18989749927361,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            534.5107277345734,
+            40.78797371062693,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            536.0107277345734,
+            43.386049921980245,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            537.5107277345734,
+            45.98412613333356,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            539.0107277345734,
+            48.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            539.0107277345734,
+            48.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            539.0107277345734,
+            51.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            539.0107277345734,
+            54.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            539.0107277345734,
+            57.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            539.0107277345734,
+            60.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            539.0107277345734,
+            63.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            539.0107277345734,
+            66.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            539.0107277345734,
+            69.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            539.0107277345734,
+            72.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            539.0107277345734,
+            75.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            539.0107277345734,
+            78.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            539.0107277345734,
+            81.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            539.0107277345734,
+            81.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            539.0107277345734,
+            81.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            541.6088039459266,
+            83.08220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            544.20688015728,
+            84.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            546.8049563686334,
+            86.08220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            549.4030325799868,
+            87.58220234468688,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            552.0011087913401,
+            89.08220234468688,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            568.0,
+            120.0,
+            30.9312
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-9-41_488663950/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-9-41_488663950/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7cde41c127dafc4b2b061ae0d5458221e4e161b3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-9-41_488663950/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            656.0834943679022,
+            56.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            653.4854181565488,
+            58.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            650.8873419451954,
+            59.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            648.2892657338421,
+            61.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            645.6911895224887,
+            62.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            643.0931133111353,
+            64.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            640.4950370997819,
+            65.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            637.8969608884286,
+            67.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            635.2988846770752,
+            68.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            632.7008084657218,
+            70.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            630.1027322543684,
+            71.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            627.5046560430151,
+            73.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            624.9065798316617,
+            74.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            622.3085036203083,
+            76.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            619.710427408955,
+            77.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            617.1123511976016,
+            79.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            614.5142749862482,
+            80.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            611.9161987748948,
+            82.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            609.3181225635415,
+            83.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            606.7200463521881,
+            85.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            604.1219701408347,
+            86.60186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            601.5238939294813,
+            88.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            601.5238939294813,
+            88.10186949637921,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            600.0238939294813,
+            90.69994570773252,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            598.5238939294813,
+            93.29802191908584,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            597.0238939294813,
+            95.89609813043916,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            595.5238939294813,
+            98.49417434179247,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            568.0,
+            120.0,
+            30.9312
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-4-59_670752506/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-4-59_670752506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36242c7478e3b2672433b3d4c32c2eb9ace870be
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-4-59_670752506/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1007.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1004.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1001.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            998.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            995.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            992.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            989.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            986.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            983.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            980.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            977.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            974.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            971.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            968.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            965.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            962.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            959.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            956.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            953.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            950.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            947.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            944.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            941.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            938.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            935.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            932.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            929.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            926.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            923.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            920.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            917.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            914.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            911.3805862228662,
+            657.6202028722558,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            884.0,
+            660.0,
+            -30.1697
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-0-41_411522957/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-0-41_411522957/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..04613b7ec18890c7e18f40b1bf24fb1400ea5afb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-0-41_411522957/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1141.9765709215471,
+            213.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1139.3784947101938,
+            214.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1136.7804184988404,
+            216.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1134.182342287487,
+            217.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1131.5842660761336,
+            219.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1128.9861898647803,
+            220.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1126.388113653427,
+            222.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1123.7900374420735,
+            223.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1121.1919612307202,
+            225.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1118.5938850193668,
+            226.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1115.9958088080134,
+            228.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1113.39773259666,
+            229.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1110.7996563853067,
+            231.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1108.2015801739533,
+            232.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1105.6035039626,
+            234.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1103.0054277512465,
+            235.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1100.4073515398932,
+            237.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1097.8092753285398,
+            238.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1095.2111991171864,
+            240.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1092.613122905833,
+            241.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1090.0150466944797,
+            243.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1087.4169704831263,
+            244.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1084.818894271773,
+            246.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1082.2208180604196,
+            247.78728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1079.6227418490662,
+            249.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1079.6227418490662,
+            249.28728418245072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1078.1227418490662,
+            251.88536039380404,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1076.6227418490662,
+            254.48343660515735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1075.1227418490662,
+            257.08151281651067,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1073.6227418490662,
+            259.679589027864,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1072.1227418490662,
+            262.2776652392173,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1070.6227418490662,
+            264.8757414505706,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.0,
+            284.0,
+            -0.375382
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-58-26_2021303708/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-58-26_2021303708/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb376ef755e59802c2742e383e7531ebd9b05884
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-58-26_2021303708/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            659.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            662.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            665.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            668.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            671.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            674.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            677.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            680.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            683.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            686.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            689.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            692.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            695.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            698.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            701.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            704.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            707.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            710.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            713.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            716.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            719.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            722.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            725.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            728.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            728.3826812578586,
+            311.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            730.980757469212,
+            310.49622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            733.5788336805654,
+            308.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            736.1769098919187,
+            307.49622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            738.7749861032721,
+            305.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            741.3730623146255,
+            304.49622637106415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            743.9711385259789,
+            302.99622637106415,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            296.0,
+            1.28039
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-12-19_1987519915/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-12-19_1987519915/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e6e59d957f3b8abf3afd18b28ef480e58c66582
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-12-19_1987519915/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1245.6163122138323,
+            -251.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1243.018236002479,
+            -250.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1240.4201597911256,
+            -248.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1237.8220835797722,
+            -247.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1235.2240073684188,
+            -245.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1232.6259311570655,
+            -244.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1230.027854945712,
+            -242.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1227.4297787343587,
+            -241.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1224.8317025230053,
+            -239.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1222.233626311652,
+            -238.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1219.6355501002986,
+            -236.51368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1217.0374738889452,
+            -235.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1217.0374738889452,
+            -235.01368920587996,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1215.5374738889452,
+            -232.41561299452664,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1214.0374738889452,
+            -229.81753678317332,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1212.5374738889452,
+            -227.21946057182,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1211.0374738889452,
+            -224.6213843604667,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1209.5374738889452,
+            -222.02330814911338,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1208.0374738889452,
+            -219.42523193776006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1206.5374738889452,
+            -216.82715572640674,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1205.0374738889452,
+            -214.22907951505343,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1203.5374738889452,
+            -211.6310033037001,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1202.0374738889452,
+            -209.0329270923468,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1200.5374738889452,
+            -206.43485088099348,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1199.0374738889452,
+            -203.83677466964016,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1197.5374738889452,
+            -201.23869845828685,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1196.0374738889452,
+            -198.64062224693353,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1196.0374738889452,
+            -198.64062224693353,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1193.4393976775918,
+            -197.14062224693353,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1190.8413214662385,
+            -195.64062224693353,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1188.243245254885,
+            -194.14062224693353,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1164.0,
+            -172.0,
+            -29.2418
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-26-24_1260995960/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-26-24_1260995960/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8f68fc1d46ce0fa2eb17c95a1f31434f08dcdc78
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-26-24_1260995960/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            266.31384007783765,
+            -152.03551033612314,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            264.81384007783765,
+            -149.43743412476982,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            263.31384007783765,
+            -146.8393579134165,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            261.81384007783765,
+            -144.2412817020632,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            260.31384007783765,
+            -141.64320549070987,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            258.81384007783765,
+            -139.04512927935656,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            257.31384007783765,
+            -136.44705306800324,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            255.81384007783765,
+            -133.84897685664993,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            254.31384007783765,
+            -131.2509006452966,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            252.81384007783765,
+            -128.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            252.81384007783765,
+            -128.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            252.81384007783765,
+            -125.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            252.81384007783765,
+            -122.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            252.81384007783765,
+            -119.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            252.81384007783765,
+            -116.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            252.81384007783765,
+            -113.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            252.81384007783765,
+            -110.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            252.81384007783765,
+            -107.6528244339433,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            232.0,
+            -40.0,
+            -30.6686
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-1-6_1541417540/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-1-6_1541417540/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a5d5908edc2c5d2be1ce4807bd6a7ca0a266bec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-1-6_1541417540/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1884.9580512894968,
+            349.0329072489473,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1887.9580512894968,
+            349.0329072489473,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1887.9580512894968,
+            349.0329072489473,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1887.9580512894968,
+            349.0329072489473,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1889.4580512894968,
+            346.434831037594,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1889.4580512894968,
+            346.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1892.0561275008502,
+            344.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1894.6542037122035,
+            343.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1897.252279923557,
+            341.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1899.8503561349103,
+            340.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1902.4484323462636,
+            338.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1905.046508557617,
+            337.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1907.6445847689704,
+            335.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1910.2426609803238,
+            334.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1912.8407371916771,
+            332.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1915.4388134030305,
+            331.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1918.0368896143839,
+            329.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1920.6349658257373,
+            328.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1923.2330420370906,
+            326.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1925.831118248444,
+            325.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1928.4291944597974,
+            323.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1931.0272706711507,
+            322.434831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1933.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1933.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1936.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1939.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1942.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1945.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1945.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1945.6253468825041,
+            320.934831037594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1947.1253468825041,
+            323.5329072489473,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1948.6253468825041,
+            326.1309834603006,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1948.6253468825041,
+            326.1309834603006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1951.2234230938575,
+            327.6309834603006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1953.8214993052109,
+            329.1309834603006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1956.4195755165642,
+            330.6309834603006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1959.0176517279176,
+            332.1309834603006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1961.615727939271,
+            333.6309834603006,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-14-39_1848096107/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-14-39_1848096107/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1c12175fbe9e5c78a1bc58540463c561fce46c99
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-14-39_1848096107/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1601.6092768918857,
+            367.1130426598216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1603.1092768918857,
+            369.7111188711749,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1604.6092768918857,
+            372.3091950825282,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1606.1092768918857,
+            374.90727129388154,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1607.6092768918857,
+            377.50534750523485,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1609.1092768918857,
+            380.10342371658817,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1610.6092768918857,
+            382.7014999279415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1612.1092768918857,
+            385.2995761392948,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1613.6092768918857,
+            387.8976523506481,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1615.1092768918857,
+            390.49572856200143,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1616.6092768918857,
+            393.09380477335475,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1618.1092768918857,
+            395.69188098470806,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1619.6092768918857,
+            398.2899571960614,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1621.1092768918857,
+            400.8880334074147,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1622.6092768918857,
+            403.486109618768,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1624.1092768918857,
+            406.0841858301213,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1625.6092768918857,
+            408.68226204147464,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1627.1092768918857,
+            411.28033825282796,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1628.6092768918857,
+            413.8784144641813,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1630.1092768918857,
+            416.4764906755346,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1631.6092768918857,
+            419.0745668868879,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1633.1092768918857,
+            421.6726430982412,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1634.6092768918857,
+            424.27071930959454,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1636.1092768918857,
+            426.86879552094786,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1637.6092768918857,
+            429.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1637.6092768918857,
+            429.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1637.6092768918857,
+            432.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1637.6092768918857,
+            435.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1637.6092768918857,
+            438.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1637.6092768918857,
+            441.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1637.6092768918857,
+            444.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1637.6092768918857,
+            447.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1637.6092768918857,
+            450.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1637.6092768918857,
+            453.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1637.6092768918857,
+            456.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1637.6092768918857,
+            459.4668717323012,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1656.0,
+            500.0,
+            -27.269
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-39-56_454416748/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-39-56_454416748/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..960b19ecd09b1ef1b6e17cd2cabe2e445059abb6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-39-56_454416748/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -58.23964430280968,
+            230.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -58.23964430280968,
+            233.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -58.23964430280968,
+            236.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -58.23964430280968,
+            239.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -58.23964430280968,
+            242.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -58.23964430280968,
+            245.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -58.23964430280968,
+            248.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -58.23964430280968,
+            251.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -58.23964430280968,
+            254.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -58.23964430280968,
+            257.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -58.23964430280968,
+            260.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -58.23964430280968,
+            263.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -58.23964430280968,
+            266.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -58.23964430280968,
+            269.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -58.23964430280968,
+            272.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -58.23964430280968,
+            275.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -58.23964430280968,
+            278.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -58.23964430280968,
+            281.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -58.23964430280968,
+            284.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -58.23964430280968,
+            287.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -58.23964430280968,
+            290.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -58.23964430280968,
+            293.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -58.23964430280968,
+            296.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -58.23964430280968,
+            299.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -58.23964430280968,
+            302.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -58.23964430280968,
+            302.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -58.23964430280968,
+            302.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -55.641568091456364,
+            304.1082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -53.04349188010305,
+            305.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -50.44541566874973,
+            307.1082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -47.847339457396416,
+            308.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -45.2492632460431,
+            310.1082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -42.651187034689784,
+            311.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -42.651187034689784,
+            311.6082406144526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -41.151187034689784,
+            314.2063168258059,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -39.651187034689784,
+            316.80439303715923,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -28.0,
+            372.0,
+            30.9954
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-40-53_570840516/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-40-53_570840516/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0dc6ff25ca34e677a57ce2c64f29203e99f00227
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-40-53_570840516/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1091.7399821362515,
+            52.79830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1089.141905924898,
+            51.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1089.141905924898,
+            51.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1089.141905924898,
+            51.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.570796326794906
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1089.141905924898,
+            48.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1089.141905924898,
+            45.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1089.141905924898,
+            42.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1089.141905924898,
+            39.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1089.141905924898,
+            36.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1089.141905924898,
+            33.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1089.141905924898,
+            30.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1089.141905924898,
+            27.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1089.141905924898,
+            24.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1089.141905924898,
+            21.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1089.141905924898,
+            18.29830416918641,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1089.141905924898,
+            15.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1089.141905924898,
+            12.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1089.141905924898,
+            9.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1089.141905924898,
+            6.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1089.141905924898,
+            3.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1089.141905924898,
+            3.298304169186409,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1090.641905924898,
+            0.7002279578330928,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1092.141905924898,
+            -1.8978482535202232,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1093.641905924898,
+            -4.495924464873539,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1095.141905924898,
+            -7.094000676226855,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1100.0,
+            -60.0,
+            0.517449
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-4_2037335344/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-4_2037335344/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5dfe03162a6eeda10f5a986cb76c48b92836cc41
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-8-4_2037335344/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            832.134497900829,
+            1304.816105624728,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            830.634497900829,
+            1302.2180294133746,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            829.134497900829,
+            1299.6199532020212,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            827.634497900829,
+            1297.0218769906678,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            826.134497900829,
+            1294.4238007793144,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            824.634497900829,
+            1291.825724567961,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            823.134497900829,
+            1289.2276483566077,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            821.634497900829,
+            1286.6295721452543,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            820.134497900829,
+            1284.031495933901,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            818.634497900829,
+            1281.4334197225476,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            817.134497900829,
+            1278.8353435111942,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            815.634497900829,
+            1276.2372672998408,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            814.134497900829,
+            1273.6391910884875,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            812.634497900829,
+            1271.041114877134,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            811.134497900829,
+            1268.4430386657807,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            809.634497900829,
+            1265.8449624544273,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            808.134497900829,
+            1263.246886243074,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            806.634497900829,
+            1260.6488100317206,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            805.134497900829,
+            1258.0507338203672,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            803.634497900829,
+            1255.4526576090138,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            802.134497900829,
+            1252.8545813976605,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            800.634497900829,
+            1250.256505186307,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            799.134497900829,
+            1247.6584289749537,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            797.634497900829,
+            1245.0603527636003,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            796.134497900829,
+            1242.462276552247,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            796.134497900829,
+            1242.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            796.134497900829,
+            1239.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            796.134497900829,
+            1236.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            796.134497900829,
+            1233.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            796.134497900829,
+            1230.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            796.134497900829,
+            1227.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            796.134497900829,
+            1224.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            796.134497900829,
+            1221.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            796.134497900829,
+            1218.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            796.134497900829,
+            1215.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            796.134497900829,
+            1212.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            796.134497900829,
+            1209.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            796.134497900829,
+            1206.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            796.134497900829,
+            1203.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            796.134497900829,
+            1200.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            796.134497900829,
+            1197.462276552247,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            796.134497900829,
+            1194.462276552247,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            1176.0,
+            -28.2416
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-2-44_212295100/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-2-44_212295100/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d0068c3fb8319343911f9e26e1421bf726f726c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-2-44_212295100/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1876.7214576995639,
+            1033.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1876.7214576995639,
+            1030.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1876.7214576995639,
+            1027.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1876.7214576995639,
+            1024.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1876.7214576995639,
+            1021.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1876.7214576995639,
+            1018.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1876.7214576995639,
+            1015.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1876.7214576995639,
+            1012.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1876.7214576995639,
+            1009.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1876.7214576995639,
+            1006.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1876.7214576995639,
+            1003.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1876.7214576995639,
+            1000.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1876.7214576995639,
+            997.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1876.7214576995639,
+            994.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1876.7214576995639,
+            991.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1876.7214576995639,
+            988.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1876.7214576995639,
+            985.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1876.7214576995639,
+            982.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1876.7214576995639,
+            979.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1876.7214576995639,
+            976.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1876.7214576995639,
+            973.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1876.7214576995639,
+            970.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1876.7214576995639,
+            967.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1876.7214576995639,
+            964.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1876.7214576995639,
+            961.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1876.7214576995639,
+            958.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1876.7214576995639,
+            955.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1876.7214576995639,
+            952.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1876.7214576995639,
+            949.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1876.7214576995639,
+            946.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1876.7214576995639,
+            943.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1876.7214576995639,
+            940.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1876.7214576995639,
+            937.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1876.7214576995639,
+            934.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1876.7214576995639,
+            931.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1876.7214576995639,
+            928.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1876.7214576995639,
+            925.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1876.7214576995639,
+            925.2619538600995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1875.2214576995639,
+            922.6638776487462,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1873.7214576995639,
+            920.0658014373928,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1872.2214576995639,
+            917.4677252260394,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1870.7214576995639,
+            914.869649014686,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1869.2214576995639,
+            912.2715728033327,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1867.7214576995639,
+            909.6734965919793,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1868.0,
+            892.0,
+            -29.242
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-29-39_1824700010/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-29-39_1824700010/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..48f9a6a6405f5861368afe4c3107c06e381db800
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-29-39_1824700010/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            943.2997476607181,
+            210.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            945.8978238720715,
+            209.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            948.4959000834249,
+            207.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            951.0939762947783,
+            206.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            953.6920525061316,
+            204.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            956.290128717485,
+            203.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            958.8882049288384,
+            201.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            961.4862811401917,
+            200.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            964.0843573515451,
+            198.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            966.6824335628985,
+            197.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            969.2805097742519,
+            195.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            971.8785859856052,
+            194.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            974.4766621969586,
+            192.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            977.074738408312,
+            191.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            979.6728146196654,
+            189.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            982.2708908310187,
+            188.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            984.8689670423721,
+            186.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            987.4670432537255,
+            185.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            990.0651194650789,
+            183.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            992.6631956764322,
+            182.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            995.2612718877856,
+            180.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            997.859348099139,
+            179.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1000.4574243104923,
+            177.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1003.0555005218457,
+            176.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1005.6535767331991,
+            174.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1008.2516529445525,
+            173.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1010.8497291559058,
+            171.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1013.4478053672592,
+            170.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1016.0458815786126,
+            168.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1018.643957789966,
+            167.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1021.2420340013193,
+            165.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1023.8401102126727,
+            164.4303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1026.438186424026,
+            162.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1026.438186424026,
+            162.9303974803163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1027.938186424026,
+            160.33232126896297,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1029.438186424026,
+            157.73424505760966,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1030.938186424026,
+            155.13616884625634,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1032.438186424026,
+            152.53809263490302,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1052.0,
+            140.0,
+            -29.4139
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-46-5_1782648142/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-46-5_1782648142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11a1d7f9c96deed640937e09268d8d6a871e5a73
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-46-5_1782648142/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1957.3805129255925,
+            770.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1957.3805129255925,
+            767.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1957.3805129255925,
+            764.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1957.3805129255925,
+            761.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1957.3805129255925,
+            758.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1957.3805129255925,
+            755.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1957.3805129255925,
+            752.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1957.3805129255925,
+            749.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1957.3805129255925,
+            746.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1957.3805129255925,
+            743.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1957.3805129255925,
+            740.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1957.3805129255925,
+            737.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1957.3805129255925,
+            734.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1957.3805129255925,
+            731.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1957.3805129255925,
+            728.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1957.3805129255925,
+            725.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1957.3805129255925,
+            722.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1957.3805129255925,
+            719.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1957.3805129255925,
+            716.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1957.3805129255925,
+            713.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1957.3805129255925,
+            713.8944657952603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1958.8805129255925,
+            711.2963895839071,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1960.3805129255925,
+            708.6983133725537,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1961.8805129255925,
+            706.1002371612003,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1963.3805129255925,
+            703.5021609498469,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1964.8805129255925,
+            700.9040847384936,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1966.3805129255925,
+            698.3060085271402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1967.8805129255925,
+            695.7079323157868,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1969.3805129255925,
+            693.1098561044334,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            660.0,
+            105.319
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-54-49_1825051735/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-54-49_1825051735/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..11e0c877c96f0e402b4bcc1e1e5a27378e83a46d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-54-49_1825051735/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            483.00755016071855,
+            -23.17740649243784,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            484.50755016071855,
+            -25.775482703791155,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            486.00755016071855,
+            -28.37355891514447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            487.50755016071855,
+            -30.971635126497787,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            489.00755016071855,
+            -33.5697113378511,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            490.50755016071855,
+            -36.16778754920442,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            492.00755016071855,
+            -38.765863760557735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            493.50755016071855,
+            -41.36393997191105,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            495.00755016071855,
+            -43.96201618326437,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            496.50755016071855,
+            -46.56009239461768,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            498.00755016071855,
+            -49.158168605971,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            499.50755016071855,
+            -51.756244817324315,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            501.00755016071855,
+            -54.35432102867763,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            502.50755016071855,
+            -56.95239724003095,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            504.00755016071855,
+            -59.55047345138426,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            505.50755016071855,
+            -62.14854966273758,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            507.00755016071855,
+            -64.7466258740909,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            508.50755016071855,
+            -67.34470208544421,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            510.00755016071855,
+            -69.94277829679753,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            511.50755016071855,
+            -72.54085450815084,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            513.0075501607186,
+            -75.13893071950416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            514.5075501607186,
+            -77.73700693085748,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            516.0075501607186,
+            -80.33508314221079,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            517.5075501607186,
+            -82.93315935356411,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            519.0075501607186,
+            -85.53123556491742,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            520.5075501607186,
+            -88.12931177627074,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            522.0075501607186,
+            -90.72738798762406,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            523.5075501607186,
+            -93.32546419897737,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            525.0075501607186,
+            -95.92354041033069,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            525.0075501607186,
+            -95.92354041033069,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            527.6056263720718,
+            -97.42354041033069,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            530.2037025834252,
+            -98.92354041033069,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            532.8017787947786,
+            -100.42354041033069,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            535.3998550061319,
+            -101.92354041033069,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            -120.0,
+            50.6383
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133727.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133727.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d70872f48a69214defd36e6649611c9765d9930
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e12bee8b45dd3d84351b0f3c68c66d6c397647daa5390bf5ca4d5b093032972
+size 829040
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133735.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133735.png
new file mode 100644
index 0000000000000000000000000000000000000000..f663b15a6126bd3b2ae9cfe04018a45bd19025bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887be4cf519336412373fc9bc36acd14436051d9bca06413129a8a545ec5e09f
+size 735235
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133746.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133746.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c09b6ba418ad877fed42ed4cb6698d9e14d4e1e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd2035ac18f788f04a6998eb2acf1e5bb591ac3b9332d114d070edc71d6b4b2f
+size 727517
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133802.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133802.png
new file mode 100644
index 0000000000000000000000000000000000000000..9098596c9ff4941bcb4b0eabc20802ea2bec860b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae35fe6e4712c62f1821b858eeb38d9ead0bcb0cb5fdfddd641a713e0e2209e
+size 621904
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133805.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133805.png
new file mode 100644
index 0000000000000000000000000000000000000000..75f63f375cbaf5239e96b5a95193fa61158bd8fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098d7bc12d58b7443f298f7042c6b51e912e41ac520e329c20f4bad542b5390f
+size 632640
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133807.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133807.png
new file mode 100644
index 0000000000000000000000000000000000000000..32932d09a2b0099f66d1b9afc93621603372314d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133807.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f16ea76e7fab187cafbb1fbc00f5869338c62dcecf7a8932d74d0249fd517af7
+size 642693
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133814.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133814.png
new file mode 100644
index 0000000000000000000000000000000000000000..e175d4f693a31406191c3bd30bf781ab9f09acd6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133814.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd3b0b9f4cfec104804b466e952934e7b84e91b4170898a6f806b12986e3f36
+size 643617
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133821.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133821.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bdc24d886b61cfbd49d22571ccaf424e32374be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ddeda479bc6f798f9452eeb8207df34e7bb0bda2d59a631e118c58c894fc93
+size 633474
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133832.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133832.png
new file mode 100644
index 0000000000000000000000000000000000000000..36b163a0af91befa99a31fbb53dbd0494945b51e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afc10fd73507f43e7b5ead4f88c3cceef1d631bc420a6fd12445bfdabb0fc8ea
+size 614339
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133836.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133836.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e46d5068505fd4b4e1df4824eb776e5a3c0b9d7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133836.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1261a04971738acf5a128bda0200f4fc14873a15c41e09758cff252e2b06ca2b
+size 630373
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133845.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133845.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ea8ced001d6a2dcf35ccc64c7d201a7e64b7cf6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133845.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf71f15e914b5dacdcc6e8a08920e13176e7d188ccaff93a749031b0bbdba7ec
+size 598333
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133914.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133914.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea007cb142c6b0dd9b3f51cefbee2ebd02ce6b21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dfb0b4fa9d05e94b4f655a88e1bb695c79adc468c81c07df2b256715aeea58b
+size 543337
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133918.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133918.png
new file mode 100644
index 0000000000000000000000000000000000000000..9329e5e38888f7ccbd0f09a2c0cb44235b48f7e4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0966f62c6004149494cd4f545752984ee24b18c18fd746a926d21d38e8a15d71
+size 544198
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133925.png b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133925.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0277238de482810cc0aca4cbab1b93d2ff04e3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-01-19_13-37-15_294326/20250119_133925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4cd136d13ccd8139c129daf361c7ac65bce1f52bc7d44448d0babd6305f5ea3
+size 552458
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183437.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183437.png
new file mode 100644
index 0000000000000000000000000000000000000000..49694c6ebc672fc8d8ea58ed385ab37e399c8db3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183437.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4bea94b69563408988307d1788058f1f2a73c1ee3faecdedf38540f34583af3
+size 727241
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183440.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183440.png
new file mode 100644
index 0000000000000000000000000000000000000000..15c2e9725102cff70434bcc558021cc4bca30fd1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183440.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6438786ad6128507c3b680dfa6fe73deeacba55e1568234b65bb05e5ae690baa
+size 720439
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183442.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183442.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdd90c4034d0ceacf352b805c7921cb9aa33619d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183442.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e9192c311920c3b93c2f56804cfe1649e33365fc8f65c42eabd889f7b02406
+size 725170
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183444.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183444.png
new file mode 100644
index 0000000000000000000000000000000000000000..d12538110a36af34b391a2e5ac954ab38c54f305
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85965a325c5b896850f39acbd93acbcc744bccea6345c3eabfad6bdce390f39f
+size 709908
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183446.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183446.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d6d2520788cc7cd904ef73a0d6156a45d8e6e3c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183446.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60a897bd5c3cb1fb038daff97535fd3a88dcf84abdb589b474945e24caf58e9
+size 697271
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183448.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183448.png
new file mode 100644
index 0000000000000000000000000000000000000000..766f158840cf4f7c91b80eb2def48a319ee3b4d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-3_18-34-32_327254586/20250103_183448.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e37f7cc0c8712b66b29404e2dfe38af9e93666600eede72be37e77ece50c13ca
+size 696594
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000253.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000253.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f065115e7e11a515eb96825e2cfdbdfc354eba9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:174a291120b967a721efa77b3e42e4e688e64658bce7761af0e924f99c4aab5b
+size 799181
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000255.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000255.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bf55dcbb639722387593eb6bd9fa86eb85c7532
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a68906133d3f850446971cf5e0fd24daa253313337dc465a91d02210a6e7863
+size 800944
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000300.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000300.png
new file mode 100644
index 0000000000000000000000000000000000000000..98551b08b6512a3dc7f630a818fe929e0bad1a6f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000300.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7c35f5789d957f43d810fc0d2d6e0b3dd9671efc6a89f81de7a8252349863e
+size 788814
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000304.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000304.png
new file mode 100644
index 0000000000000000000000000000000000000000..306785e45ed74c6a519afd1f14f49fe8a5f3b5b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000304.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2b8239b7c61590bc1163b45ebc40f5a7975a051ee3e69c1eaba4bd4861eb1b
+size 794290
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000306.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000306.png
new file mode 100644
index 0000000000000000000000000000000000000000..97afc8d142b459fce292493e190a535671b49117
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_0-2-38_1023457753/20250104_000306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9c65664484ec83940266280d020a5850da51986882b4417f2833b7d860cd8fd
+size 785083
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111213.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111213.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1749f2533a3cb0d8759368266ff2aad556e403c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3daaa93b1e1c223699379d4ddb4465246b9f65d11f0a9a3a85522395163963c
+size 724668
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111215.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111215.png
new file mode 100644
index 0000000000000000000000000000000000000000..38e642e0cbde8601ca3f81bc02130e0e5f0237aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111215.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deecb6c07d382a73636608afd19c58c8f0db804ff585625609b409da14951617
+size 726637
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111217.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111217.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e238162aed5dc89963b6b5ac2eb7687ea1fd1ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111217.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53dde6f32a619601601df77e14c7239fbd20951e295bf94c861ae328d21c1578
+size 729070
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111219.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111219.png
new file mode 100644
index 0000000000000000000000000000000000000000..9931498ac6c30a01a311dac8fc212d7039e8b13e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111219.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674d94f9f9c8322db6a1a01a58e933066cb19f259f99a1924e266ca3d48ef2ae
+size 730235
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111222.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111222.png
new file mode 100644
index 0000000000000000000000000000000000000000..4cd4c9d53da31199f1db36af25f5e59374fc9550
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111222.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1704315fcccdc947cc271ba5111fd6c149e3c114c148169901e94b961f057db5
+size 732888
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111224.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111224.png
new file mode 100644
index 0000000000000000000000000000000000000000..118170e552b7885db1fdeed8c926d756c08d5c4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111224.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59156d307be9c328513f4fc5a0281fb1f5a17f545cc4fa1e322280b1dd20280f
+size 734875
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111226.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111226.png
new file mode 100644
index 0000000000000000000000000000000000000000..99286be0d636fcc48bdc97e46b2158ab84ff3446
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111226.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53c0f88e088895fcee212e3168bf128bcaf0608cdb629007fd4e50740900d2f6
+size 770018
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111228.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111228.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f2ce9b37a9b2be077d9f198c6bbe07a56c77970
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111228.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5351014b320141f724faef6229c66dcc08241a6e1a01c047bf394fd7fe17ec72
+size 769617
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111230.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111230.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8a2b48d4af1aa4c05768464dda4f0c880b23600
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111230.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69aef62e2987d21b37dbb13537c4343796487c2790ae1ff8c5468f9efb197cd9
+size 768744
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111233.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111233.png
new file mode 100644
index 0000000000000000000000000000000000000000..a857535d910638087f45dd4f62bfe28abf40c091
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81506ef9743f84370693fd339ac8802bc8f58c545cdc9a4d978322fe37085d49
+size 767213
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111235.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111235.png
new file mode 100644
index 0000000000000000000000000000000000000000..381aaea9d8d224ce0c2bca47d0099a96741eed20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111235.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f111858aba032129656a10012f8e296cd6fb49e31fbf856c19f065d4d803d0d
+size 767265
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111237.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111237.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a4270e84a13754b374abd5d60e77b53f7033951
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111237.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99fc6e84fdedb249d0c03a7972790dd68fb22be02d69a0816e00d820f12df139
+size 766228
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111239.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111239.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd95b9d9300dfb09c57ddcd75d47d215974ad994
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111239.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:845dcef0d712c9a31a622f8c701b96404e3b1424d385c4ceb7fd207e4c6e4131
+size 763517
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111242.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111242.png
new file mode 100644
index 0000000000000000000000000000000000000000..179c47315affb9eb738ca51144c7f09eb44561c4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111242.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd0e47c6dc50ae80eff2746d7e906925fa964381c3187a2e8c9420f6a525161
+size 762782
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111244.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111244.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a780b860254eaa4307746bcc07a8fcec1c543b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111244.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f6d6af2ad2c4430fc65645aca29875c5eaf6eb4ff43e7597a51fd78a3b2ea19
+size 763928
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111246.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111246.png
new file mode 100644
index 0000000000000000000000000000000000000000..63757f1cf7a760bd577d31b2869b6b9331fe313a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111246.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d50408ff347bc9a7bfe0a54dc4283ead0eb7e7b735a010d0e840679fe2cb901
+size 761523
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111248.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111248.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4fbdcf4faf933a52b6a5adc3ac23455fdf8f43b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111248.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2a018f403d2632593752df16ab4fb14ee7faa7006a8e89e9d0c6895e806912
+size 759519
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111251.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111251.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f768d6d16a746d4ed0ef834644a527adc4bb1c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aec47a6ef98238a6e8b7c14d7bd0e22e2b517deb1a116d7693cf1149d2fc4284
+size 757610
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111253.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111253.png
new file mode 100644
index 0000000000000000000000000000000000000000..5de709fd8aaaa11209fb56b1ea3e0dbae6a8b7bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379ec62cd7fb0a7deb460a18f0eed2f15bb1e5a1cc50bcabaedb2d7a22ac078d
+size 770277
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111255.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111255.png
new file mode 100644
index 0000000000000000000000000000000000000000..df4659a3645085c196ee42b598af5ec4f6c56339
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be7c42aee5def688d473f6097863603d9e2732e7f909e133d9bb0e00cf7ec913
+size 771147
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111257.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111257.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e0dc3c9540a5bbe88497d89c2f14c6fafdd36dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111257.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2511982f67503369063aa9176bf762f4f58d7d008dc8357185e5579a01f0763
+size 765816
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111259.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111259.png
new file mode 100644
index 0000000000000000000000000000000000000000..87697fbdd6f03ad39af404721eee4985016540a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111259.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a6ce3e59dfa8ef642571b7ccb34827482e1bb0165c3c89993fb71e6d6530944
+size 760519
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111301.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111301.png
new file mode 100644
index 0000000000000000000000000000000000000000..88945cc363c429785666707c0ad89b0917a76f56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111301.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75b2eb17d4324179617790f068b88491ad5314be66a17e24e5e4e06522aa8487
+size 759222
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111304.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111304.png
new file mode 100644
index 0000000000000000000000000000000000000000..65ef49b35204c87a3e7a450821450481b432f2c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111304.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc03cd79985fb4db2645834a64428a6f1c812935be94b01364cea19742e1faf0
+size 755663
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111306.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111306.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba5ca63e3efcdd365a8d1ef9fc8cc4975a2b5247
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111306.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4bda4d9f7144eaf7abf7d49d4c9f7c92342d659af258b6e92492c3f92df73f
+size 757065
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111308.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111308.png
new file mode 100644
index 0000000000000000000000000000000000000000..168e471500217c9eb55822880f36f4129cf8eb5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111308.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293ceee57399f5115ab334e0265864a3f5242b011067fb17cda8398efe9e9487
+size 752740
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111310.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111310.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b7f824376c3faa4be084a6cd20e8a436443064a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111310.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f228cf3cdbec09d7eae4dbeed14433eae6b2ebe966e33a71d81a95bfb75ceb
+size 754151
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111312.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111312.png
new file mode 100644
index 0000000000000000000000000000000000000000..7831a588a3fbfd7062ede0337090565e0af676ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111312.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dae18b80e1d60091a970b760e89d5e1a03db47f3849161ff87961b281643ef5
+size 757047
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111315.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111315.png
new file mode 100644
index 0000000000000000000000000000000000000000..a292c0414e357c64195fe827515131c20b5a043a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111315.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7487c5e8c00df8a7648ae6042f6154b2d88ae07ea656bbe70ac66d741d0cf255
+size 758066
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111317.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111317.png
new file mode 100644
index 0000000000000000000000000000000000000000..5be50757895167e19b29ce76d21e58cb87b9cb8f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111317.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c9f434fc70a7f59f0419e28b85b8263a5bf897e382f2cd32d77fb2d4961cc69
+size 757912
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111319.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111319.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c37aeaa8acf73711183f19b16d5c403705328ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111319.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da2f4e1c64eddd91a8432bf3f059ce1eeda06295ea9081cd9df9f8caebf2a278
+size 755801
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111321.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111321.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee0688c4dfad504e0667949bfd767098ac529a2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111321.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f30e3c415a0656bbe0ac8964f78ea8e0dd8b06584e86d97f48e3277bad67704
+size 755559
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111323.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111323.png
new file mode 100644
index 0000000000000000000000000000000000000000..82b4ba18b5ec69e9bc488c8aa78eabc63db1a171
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111323.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bad4065df7614e60467ef00c2ce6672349dcf8cee67f4f5adf78335f9d72c9c
+size 753582
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111325.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111325.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7296fc9bd1c1cc6a8a4b95549953c0e7547656b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ebfb89ed597975f6ba4d31181fbc1bcb7bfb8702d74209815ed48f345072fa8
+size 755803
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111328.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111328.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc5c947ab897c50cf291fd9e37ebfb3ccf01999c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111328.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f4ed10d04045dbb9d6a0370e92ecc3a34db0dc3b13beebdfc9c7afd1937bf8
+size 758794
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111330.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111330.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bedf6de75e45904b5d7046901ef92d37b0ec211
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111330.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75898eb44a5fdcc1a9cb0f8f32dea8e9c9601798e932b353146e1e4a533a2efa
+size 755422
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111332.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111332.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dee7d735138c38eae4eee7467e9a0ecd43f5fb1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111332.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:428b452c63e38edb0fc30243ee7a9999652108e47c41683e7ae1d10be6b4394c
+size 757226
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111334.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111334.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b01a248c6d5bcee22014d861678f607cc30a0c7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9509781c187606f970cf3c151e6d76fd8cab0814b42a16ac368eca888b0c8a96
+size 758198
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111336.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111336.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5a67a4041e86dd39e915f4341475c23dcca400b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111336.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce1dd887e91378d39d61ec34deb38fefe1cd791374500305c080ea3c138d972
+size 758106
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111339.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111339.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf2fd731717357482aba77eb6721381e1ee51576
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111339.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc26cde24ebbadbbfd9a1844ec4cc40dd62abf317ae99420856d174c818f3f1c
+size 758347
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111341.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111341.png
new file mode 100644
index 0000000000000000000000000000000000000000..74c67efa1fcf79941665d18c153ec894d3fac4e8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111341.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ac822d750bfc6a53668c2de55d05be29b400c6a4ad53653c35795c12757c9c4
+size 758289
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111343.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111343.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac5a572e3b9377680b52b2b16111d3048fd7f159
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10c4d37703be9f0d8616c76156e9fcd40a67c1290aa0277f09471800c1f479a
+size 762274
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111345.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111345.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c18b16c8bd22627f3cd2bffce4e3338204f9f74
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d334cd55dd8d4fae03f610264b7cb61e7c9ef24f8aadab813a1a82b77b159cc5
+size 764197
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111347.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111347.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b7eeac2abf7bc90cf549abf771106e7a3d76957
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cecabd80b8a97bb0bd1f10a8e75b753f013f52cf66d0ae58dbd99326b47bfd2
+size 766056
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111350.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111350.png
new file mode 100644
index 0000000000000000000000000000000000000000..98540c439ed33e2813bce040e6caefe366a794fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4d3970842ee9ac4922568fdaed9a6654f2f38f0def1413934640cc0c8546b3f
+size 766606
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111352.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111352.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e51f5998a29357f9480cd196b46d440350e1d22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417738ab5f39a502c51d67e65031dc4b38cc65512d8831210b7383ae1c1d0106
+size 772005
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111354.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111354.png
new file mode 100644
index 0000000000000000000000000000000000000000..16647cb1c08436169af64b3fa456bb6130c31d65
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111354.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bae7b9a4379edb6ad34160ff8ef553b088aa100f52ba30c5a855fd4bdfd36ff
+size 774359
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111356.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111356.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bfb31ccfc865ae8721e9ebfb8256e20893d4197
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6086aac740cb1fc6c64ea6d2311c401a9efe8235aa53ef851288f0e170a2ba71
+size 771184
diff --git a/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111358.png b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111358.png
new file mode 100644
index 0000000000000000000000000000000000000000..7040033fc16932dea2652a1b9f4ff64829337dd5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/low_long/2025-1-4_11-12-10_445080308/20250104_111358.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c61e2198498fde1f317c248d73e1a2cdfc5269313a11eec7f33cf08629c9ffd
+size 765919