diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052501_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052501_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcad7c9d47a04762d965dbd8973ea3e4e3669acb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052501_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11eeafa04ef32f9ed3346ffeb1f9dc8fa846c9c6316f975c16dbf3c6a9cc3e93
+size 811525
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..19c9110ec693cc1e166d6440b99ba90fccf98ff6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee230d875b1d7a35f0b5856016c011a34ef7fdd4aa7425974e1d10b9bf6bf0d7
+size 658755
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b90dc76149ed12856c04e602407c88cebdd537c3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052502_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a9cae2bb4caa136b33c3ed97f94c78ddd6b353a59db16b31a7c4f7499e70f9
+size 691639
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052503_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052503_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..79a33038bfb006b3c01bac47415e4a6e9623aa94
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052503_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818fd5b290897399231aaa0e97f86ca5120a236001fce533cdba23f29273791d
+size 706808
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052504_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052504_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e44049b93005592ee220d41e351ae3fa5bafb4e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052504_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ddbb1b1714c76e3f8885cece4328b093611395dc26a3567f967c6c15cc98e5
+size 711990
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052505_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052505_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..f132852250d7258c8bd9cdccf29270785859062e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052505_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f90a77521202b39a5777f3a1b47db8e5482559ecac92655f8337b764773bdc1
+size 704341
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b7f76a545cc4195b959f1f9ae1be40569c55ddb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a64a8c25071bb14031df7b6f6f32746af13a6f57babefa956f6a40b263e363c
+size 696503
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..6896fdee4caa61bc768ecfeddd32dea574bcd23e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052506_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e098fd153ebc0d68c4031b9a84b1174cbadfa1166df3521bc034ea001ae9406
+size 710085
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052507_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052507_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..3db745992b23a973593d48363809ec8b1356d8fe
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052507_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e498085f8d2f9761dd50dd87e386d6e0a047cf8d2dda28d601a4507355db614
+size 701165
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052508_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052508_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..677b5643310647ee1747f3cbe24ad338fc7e68bd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052508_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61ed1cdcc6b6db4c5fb560cab154ca6728819ff891357d3b22a8a3d36799362
+size 701090
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b89683883ff03455d02e7d8820030740cd94141
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1dcad456b195910fb5dda638bfe69a3ed802ce1915c11cc0eef7568e238f0f
+size 704131
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..5953255cd75200156072aab2d04282841dea77a5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052509_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a410027e662ad4addfcefc6ef3f66eaca8f8b03a1c2481e16c495017b09f8e2e
+size 705276
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052510_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052510_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1672b4c96ac07f47abdd2a68f00de3c8203ec99
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052510_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37889102496212eada2309d006e5ac07c96d01c7feca06f8709022573445f006
+size 716706
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052511_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052511_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9e30f1c80975f071882f0ebcbfa212c8001fc54
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052511_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f0c49e43edc3aeb6a7863cb18105f34aa186fca35484dfab2681b9df824fe8
+size 721045
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052512_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052512_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fda65d2916deeeaf74f17e69d397090d0157883
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052512_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b03216e8ee070c27a937ef5402520430940fef9ea1b8eb5743b9be6b39f22910
+size 736374
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdb6d990b0b0dd76dbc01225cd5d8ebe7213cf8c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47159ac521ef2cefce966767534ee5ec55bc76c95651241a7d5db8e3f8a2cf46
+size 747345
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..b41c140bde0a147134fb24eb457693ca4255a380
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052513_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf314d3790a148fdaf7a250a74ae995232c41fe38de4a40917e401a7bfe9c0a0
+size 740028
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052514_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052514_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e7d4f513a6d2f3c2b819c3a4a79518eadb770a3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052514_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:205f3775e082cf56799536b50b88e5b07ef649057404da597a5edc3f4c7d070c
+size 739492
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052515_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052515_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d2f237b7c856206aa5be11c0dd49b13bbe27a99
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052515_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26aad8ed239b60b06822c11e388379ce8cc3a20f872de82efe637d878c24e2f
+size 738507
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052516_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052516_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..a242108d33e99c72ab99a32dc2e50f922c33ac61
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052516_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:526900414a8c1ffec9b33653426dcd28bac3b6589b4d1acedfb7f3b9bdfa4563
+size 733074
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052517_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052517_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..b518064647adfd1fa0803120a62549377d3efb84
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052517_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61451c5c1bb4c175fbaa631e1c87e791696ef5dc66d03ae3b9a4260ffd05d4c0
+size 721865
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac8dffe4a3adff99623e1260501e665b73f4fd1e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e82e78d31b4f5c7b63b7532207490736fb1bf4e26e32f5dfee7c932d254da0e
+size 711970
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..b64466eaa79f7c2a40a54a03154c76db8256fb88
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052518_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad4a02d07bd61defbf55e7907633cd2cbe3a216298b7e425e5df34aecf268044
+size 704669
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052519_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052519_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ae0a0f4ca379fa16bcbc2937cd1f663d21c759d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052519_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2c8ba0478be3ab21f078fa9c5ae39946dd9b529a78c27af485932922d65a2a
+size 699805
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052520_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052520_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1a0c5eeb8d5dbd3fab71daa6b67eb15fd96f29c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052520_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee896773f851419cc293b22cbc8935a40e4956945ad2e7cef67b11fa46840a0
+size 682955
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052521_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052521_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed3f1e2404162c04123e7aebad5fbc3c9f21608e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052521_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba6a8994777bfd1604d73e790e8c56bffd4b53f7e411956174a1d8539276a6e
+size 680207
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b2aea22fd83a131d34fd1e1b7dbf17890572450
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1103623fdc1d2c9e37ab2888f452b715dec287b9d0f53723413165511a7092e8
+size 685831
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..616350a4b4968ce1bd3fbbe1889b10c69917c6b4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052522_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fd8583b725c432f0b677f7cb732d6dc3d391fa86322ffdd3e4bd307890ec50
+size 685145
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052523_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052523_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..84142cfe611906b1e9996f1f3500d5a3172f0465
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052523_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6333df9fcda5405545edcaa6684823ce732362f91107cc39877b7c8702637d0e
+size 686184
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052524_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052524_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..6859ca88755331c8d91ccb1dc1ab8cafb969d298
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052524_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d95b81cf5b08e21bf82e89071066e2355a66987b37710f1fe4e340b614f7fe9
+size 687195
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052525_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052525_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..afe6b367c43b48813f35c7825197c43a44b65896
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052525_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4696a848b73f6a01d7b7d19fdc0fce23a200c7e6ff84dc2ef205fad1b866acf7
+size 696529
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..2232fbdd53f2ff690e5c774975eed7203987e488
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b76a46204a2f285aaaf484d7cb7605c3939ef8a9c31706cfc546d38c90a249
+size 714587
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..53ff64bc930bb600f728889c1a4b770ccc33bf1b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052526_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:250407f0845af49ba75146f8e84fe5299ed907007839f3ce78c20fe621af92cc
+size 722015
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052527_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052527_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1e4b126e59e26532693bd8d36fb4d0f54c51874
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052527_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e1c3aac66a5ba8239ba40b783d693ae816bba205eb326b481c7c7284933b2e
+size 731165
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052528_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052528_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b281e617a07d30cdcc3c96e2e0cc39d9f580c65
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052528_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a5a0e12d76b0921944d01f45ec850ca539e6e6a55e966c196d8ac472520ba0
+size 714701
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052529_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052529_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..60a9731e4319b1fbf733fdd633df2814a4c5a204
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052529_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aebc13b9dbc13600ce413d167e3af5e27e951bc1a8b164c68751c194122377e9
+size 624185
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4b0f179533b29bb1f1c7fc6289c29fd8ac184e1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:610c253990287b7710ccf11336cfb0e4ef9ad7102b72ae253c841047843290ed
+size 549438
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..18d6471349e37246a5b0023d1b921e16f17709c3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052530_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06865aa35b0f2e4baa881413cfd5ea4c61219156a0731b6925777863a14e37d7
+size 541084
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052531_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052531_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f75f1ba776ef63cdfbda8521e2fa6ad263e35c7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052531_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d11a1da93e16b86f8ec6f513ffa79eb0e7de37f644551ab12a9c90f8e39c595
+size 584066
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052532_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052532_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..100a04c6b62777de1fdd894a2cee60d8cbdb10e6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052532_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194463df5fba5cf8ff9a58e48bc08b65f1d7a6d70c95858aec587306fc200d38
+size 629210
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052533_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052533_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..60cfb482baf965224846f3d542347e2715b52cca
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052533_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bcac06a9d99a88fefbe73e80c05a71fe74aeb2edd185ac00934090d98239d4e
+size 626911
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052534_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052534_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5d5a2922d359e1e2e84137e646a52c538c60031
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_05-25-00_944905/20250119_052534_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b73f5580758f002335188bd3482d4b9a7215bfbaa09333d874a0603065d5524
+size 664257
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002202_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002202_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..fdedd987004a994500a17cc0e3e6a4a2e5dc8cc0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002202_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6345176904d0e2750744de5009a06cc416db85259770f9e780ce8e1a0bf7f619
+size 653754
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..266104b40592c46f31033b94cc161f3567c6b7c4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8d9ad7966c8c89e9b38c447aeb17d3864fa7d6af420bc3e9a69df1402686b9
+size 721958
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..1305a3792a71daa63f6e8b166477ce3bcbc9deb8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:887956d6d8a015d7d01618bb07e3021a03d8e47ae7d705f9cc0c9e34bb7d42bc
+size 741116
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1aac73d60327c3af8dcd22225dde1e16714c809
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002205_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73e0b3c0a58ea9d2196245d6c04631beed05a0c32d349e12c6b27a0287c937e
+size 747606
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4fd65045c71f5855793315ae57f323489a74305
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d33c84db47e2489f3e18fa789c0302337ad9ce2e979e2de693734f79bcf52ac
+size 746522
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..affb0f5f887681466593f83154aa45cac7d9b8e8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002206_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07de0f581177d9046301fa624f951577206021021e54e4aa8141b01334ca9c8
+size 740424
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..c104248a485027f3a25f81b1cb745056a838ed9d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db4405e8f0fa3a6506d9cf86613f2757aa8535fc637d99374df166f1f5a9a34
+size 732937
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..9efd32d9d33d62ace2d64deb481f8e1f6c5a1c61
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002207_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19bfa4efa5d84a7c9e62a750810f854ce484ae4387be669f3cfad4ee78edf247
+size 725288
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..05e5458be3335d2f86ed711a135e0f9110625e97
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc13a2c0f92d067e3ba656a5538452a768d632f8e0261e56cbadb66638c8522
+size 710035
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e59b8d2cf6a8afc917c41076261a26a6fd290d1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8528a37d33daeb662e09880e3491944b848dd091029a26219dc356af2722b876
+size 718641
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..13d17e8d2ba24419f5a2e75e03a54bea72da6f67
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002208_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10fb467ea6278f404162b7972c028aafde06cc2ec9f3f1adfeef4ddaffe55e51
+size 718577
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002209_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002209_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..204203a17ed77fe42a3f7863de4ec38e2e0461fc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002209_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76df533daf5a937f47235460cd2c43dd5ed94badd9e6cea0da8bde7ce4422de9
+size 710210
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..308a6e46fab0b43bef4adce2720ae9cdf5b6416f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff98dfd250459165da2fb4f2287c52faafcb9df356624c28a699fee8128926a1
+size 698282
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..293314853ae1e58c3b0bf6aa37022b6b21d759be
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002210_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344e243ded8820395e1875ab53fd4a0b1c7785a6bbbe34a3737bb7ce245c9bc1
+size 697130
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d2ae50487827ec098d00c4101bfd72ed1e7b11a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3babcceb07e6ba54a6789668f93ac6f1d9514d6efef6988ece67b6ed1d0acaf6
+size 694070
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6f8d55c55390081e2d4d010fdbd4299d231d3f0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002211_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5c346f52679d8c571a7bbb4a81abd24e0970d0611ef8712d505d7d86897493
+size 689175
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..17f38155f73241e008f1b87106420d9fe339b4c4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1735b0a34103a74484e4c553aded35f3bed673e70f142bc30c464105658fb0
+size 680735
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..202f267734b71aace51eedf4da156ad0ebfd3cfc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002212_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d93e419ae6398d031e0d22984dddc5f94435b90e169c1ba34c84d2de556ee55
+size 674603
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea10777f1e31f8b3da5dc7ef4678ca823c89945b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544879fbd187464b0d628df394800b3ccedfaa980d763b043f2c900586c2f5a7
+size 667596
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddf45544958c2ce77d9269100fbae456a929a8de
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe92092523795900c8ff5aba48aa2cbef796997ee31b35dd7fb6c0ba347f78b
+size 664998
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e081d957f5cea61ecc9a37606e50a0ab2493230
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002213_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f41c6664aba64ce343555a0988182e0ad5bcae59379a6dd578349f5a7880d4
+size 667462
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ec39b81f8849762fea527e82d57890d608c397f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:160bd925ca3225e6cf259a7dbbc49d53883e30c3429832ef21dbe9c47a801332
+size 663792
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..79bd4dfb5509e3661542edfe29094bb7ca24413c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002214_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452fbe4a6622ad0c29cb9c3f2d1b9c73178cb18d5d7d62e31a69c8d5213e7e96
+size 664333
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4a8409ba6a3a569e8af6cbc95240d68f2b5fae
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:727c08e4cc0e83db562f5fa4a14a6ec6f870872abc79e27df9ac9e067b5f9daa
+size 665943
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab0eff4b1f4de04c9ba3982a06cc5eb8a268fca8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002215_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a859c76ee48adebf4e2e2e0a25a3ff5344ee066205da03207b165cc3d2fd729
+size 669614
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3e98dd64233fec8b1dedce27e5478a5dca19d27
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cf2d2e52c81ab1b9bb3d81228ae0f444d4d95b4253c8506099aa8dd18eaede2
+size 676763
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..67a287341031818d7f0d6b4c6d12edb129cdf8ab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e774f739009c5ed869bc3216ba85c0ceec1178e2891c4da1028b3f1c6f7262
+size 690356
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..560149c426fc857d41bcb4bf090803b67719ed3f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002216_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48267b4e8ec5d32d7e2a75650fcd7c3f63e5c55a03f147fc4f84c737b871cf61
+size 701699
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..3586b5522f25717bfc3c6896806ead2d4f94c880
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa24d46053470e4014496efab031abc39e4fac99fc799fab8e5026555bb1350b
+size 715823
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1c19edeb3c22283c310799625a6773630c48ad7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002217_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1df566ec78d42f6d3719fa32d5010428d05de98b9f3b6062849dd5c76157bf
+size 718130
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002218_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002218_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddc85520043562480e598da07dfb68b7911507b0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002218_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:285d5231f98d068a7ae2e1f546fe9e7a88cd5415e92c060f2923087ae33d2bab
+size 727277
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..df0b410535be1e30c8ede4ff17f53acafc2fd461
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cc3822b9a7654032cc04044d9d7a7531d72c6f3c65ad3e9e0d2ae2f48a4ac1
+size 727961
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..332b8807599281fdeaf85cbd6c50c528be508be5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d9dbd9a7e71a4dc01ffee23675e53024b8167807fdd59a1ffb989f8eabe0a4
+size 728934
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..04da911b1f1ebdcdaf25bd5c4d3c0c77269082ef
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002219_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d672717a382029d204b91786cd37f37817b126888d736e1f920a03ba3571756
+size 738076
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ca306d6863894cb3b8ab5aeaf23b6b2059e9edf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:795d2a3c103eba52c435c4f29580a858869124dbdcd87f64e34b260824510450
+size 746786
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..d879eb912193a91c419a1f410417ab71d7c2533f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002220_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a77457f324918d16129380136bd024cecfb4afafaefd0e234e29462a97a28ee1
+size 758948
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..27016039db36248552081d742b7167446ccd0bb0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d555135e902d36ec8b33184a3c4a0f5a8a778078f8d0eadf7877d3c7afdeaa65
+size 781124
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..762d4b4d640e254ec11345e9baea15c2ea312aab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002221_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1271bbe331c161d116aa61b7882396840fe9c893d8f5e96170f87f8c792ae563
+size 807313
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..1018c20260cf07074a486f2894f829f122d5bdca
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb44d09f59055aba9131f89a38bbd79aab29be8fd6d9992bb75d9e5faa2469eb
+size 819984
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc9576106d5a1624f96ece4ff84f6777e1739184
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002222_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6169017b729ccc9351712611ff33f4fac8d1e01bd0d99a21393dcdaf4b921f68
+size 834660
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..4106e01f928493496f3dd242e6d63c1808e9cda0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:413d18be0a2888f888c280bb7107f0085481045d98e5f9a5374110c05571e85e
+size 774238
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea064dc5a64d6f2a023be3e95bd21799af2e509d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002223_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e90f9832cbc218e01576cc19e864c35608613c57b895a2ab20b78e0e5599cd3
+size 780904
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_46.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..71fac169bcbf269a73ca93f54dac7a514ab19d4b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c165f04499282b83eb87665d089c00bfec74cbfa8064f843aafabb3fbd196649
+size 733666
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..92d3ef5fe826c752fff71ee6185d809106cde2db
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002224_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:931736dea86158b1d8ec79b00da669676f2747b7c44a6b2bd9b2da47c5351b39
+size 643736
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2edaf9cd56b4763fad2676e8129adcb2826b8a2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c53639ace832593c8ab569b9105832883e93fd602d1ef9753f79882de399f39
+size 581196
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..e811145f410ba2044ea2800eae4da9a02de0d543
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a3f08572ca1a007fcde8bd39d12451de86597de0b319909da1ec303c795ac2d
+size 550023
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_50.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..1583fc051c4791754dc1449234d0e4ebaba6bc34
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002225_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37eaa30afea2a5cccb66bceb039667149ec61273797a31cdf1b300b888a12e75
+size 581111
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002226_51.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002226_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bfdc7e2766de0cba0ac7601c63f359ef00f865e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_0-22-1_1330573317/20250114_002226_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88cbe43548b447688f0f9d4fb5d428f68fdb0f28e81f9cb17a4db4b918a6ef2d
+size 665122
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161201_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161201_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..18b33251a4cb3ff1ffca013aa73be2e1112ea48b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161201_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a830aa645199260e9fd22be95bbd32008160b65c9171d042eb0907bba52135ce
+size 543973
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a882d21c5e5b9d5e8ddb70ed2b268eaaf5cd7c8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a2e38eacde55482ad8e62ed253894007929d1cf35577cf5a47a03d1a5a2062e
+size 543438
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..7dd65dc1e8fd49636b9639ad1cc477fde9d654a0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161202_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74f2d151974ba03303f052879e431a9c0cb2f141ff874cb16e68213da6a73838
+size 548332
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161203_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161203_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..2def5d4ed07340c0da651e06ea061141be0accdd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161203_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0a9cb73d64ce1e299652936bfa50c1d7a907991f17d8d8a564830724ac4e46f
+size 565073
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..12e116bd815393abdba5fb256c7dbc798a3ded21
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4042b27745cba5838bffc389072ca9f7c06d2c47851de229608b3875724f10d6
+size 587587
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..73aab3cdb0578c05be025ba65a340e96fec54132
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a26576a26e48664dc76ed54fd118d4232787eb0104ecfe5a2e485397f83a4ae7
+size 593278
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..569d54a65e41ae801613c07d95cd009241f96597
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161206_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb958a1087f5f1723d44c108ddcfa2994325d50c2111432f132f550a03c62b0
+size 590089
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161207_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161207_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1cb8b05f8e5cc5b233df3f003fe64906a9373f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161207_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497cdef8fba16290c6adc4641fca8fc393af17fa8f9fb8459090a3b492fa1d29
+size 609036
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce3ac6f042ac40f4cb597dc1899b8440d1c5fd6c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca10714ff9401e8e278856a25e23b025910de265445a31b7e0d8093efedbecf7
+size 585987
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..93abd1d4d84c752a7bc05541d62f61f71edc9f66
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161208_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5a4209b7723f1fd24cf18767551e1b39bb946a3273e3d28c281b2b98d23d41
+size 584521
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fb544de23eeb22cdc5fd77614e9283c7e399bfc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c6de75e9be3f2463df7067e88fbb02a5077c8032b2b77e24ff044015a2e3f7
+size 589217
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..24689ecb79a6f2733e3185049191637a32dcc3cd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161209_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee99ecb7848766109b4bc48dbb83ad570b169e15b7a40272fe39b100a5fb7e3e
+size 575035
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff80d2bfb414b518de0d3b1cfbdb7478f84bafd7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4935165150e2f118a0e4fc3406b0a1f22e565de8ec84955e83f3a40447a1ced6
+size 578412
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..c06981b07ad54dc4590a5a9086e81caa8422c547
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d9c0402a9ed6a40872ec08ddad5464c8466f472534fc07a3e1b756495327b61
+size 584676
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..e21d9cc2cf7d79b020763a789eafc805c2528be9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161210_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df3843eaaa31f09d6b5e95adb71effd37dcab5b8a33c88e4c77f763e0f87ef82
+size 593100
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161211_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161211_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c8dbae5c76b685edb8427c93979d64623298537
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161211_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc8616665020c723e3ec6de6de259118c15558784e441b4d8c3091a0c0c49aa
+size 607840
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..397de0d9b9fcd8fba0127d905fdd11fb45991e44
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9891086e0f83af0c018d7fd6478cd26d34fcbc89edc455fae2282fc0d35c63f
+size 617734
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..70ca5d64bdfbb37c2593a0dba779ba55d662bea3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161212_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe07affa26d21af4cb6460720640ea3d206d96fa6462f5d1190e540761865ca
+size 626172
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161213_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161213_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c54ef83cbc6e14ffef282cc9fd10df4f549b77a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161213_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a8d2d87fc2f759bbc509788e2b7e75e66fe0969a0bab9d22c6d544456356e7
+size 644149
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161214_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161214_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac139fa6da9d532387c4af301c506c4fcf7caed6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161214_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2f4bd045903bdc15b560e0ad3f51b4cd8fa2391b1bc426685af3b49988da834
+size 652825
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161215_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161215_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ca9b614cc82d9a8fbd7ab3ff0a8cfdc60f37a7a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161215_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:448ca9b6daac998002c462c7858648ad36215fccf3c2f3cdf8075a6ee12a9ff8
+size 668039
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161216_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161216_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b15aac7d09b772aaa863415d62f78a5cf120493
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161216_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a9a0d5709c582ee7362171cbbdaa034bd292ba95f9a4b38749bcd08d59d5737
+size 670490
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161217_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161217_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..35cf1cec5cc6d8f9cfc8d2d3fa54bd94f012b7af
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161217_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b185f415e3cdef0fadf8fc44f2134e9349bb4164b53838402697f7b1a0cf392
+size 660030
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..737cc518aff86d5be1880e99096425eebb99ff23
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9d22e645f9662041aadc09eed5cff7a1db82b27d314ae81e988d95de2365253
+size 651319
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc9216ffdea67d39967ba62e3db05f63c61a5489
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161218_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80efb515eadef8141e711535e824451fe2abba85f845634c05af500855c86993
+size 663193
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161219_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161219_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..01b56c7b01bc95dbbcb33469ec90d2e4c548c88d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161219_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec8a2ff34bef7200c9d735afceececca61aca4ceadb1cc072dc5bc596bb53710
+size 652843
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cef8c92740a064bc4e0fc6f904751ba99e4292b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b944d05ace50ae630afc13d7958a15bb6ce376e0fa7b64cb345c19272f3829
+size 715312
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..af653558210ec96708e52c903af165b4446e0f00
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161220_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd30fa6baa7aed038adf0d2e5a1bcf657f884343fd004c2ac7b3cc869d265810
+size 699657
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..6508c03310189d5fb36d4e86f3b5ad7dc6838080
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce197ff3f452cbc2554df2f589ecb9be85579484136e27073d254440bb3b558
+size 706486
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_50.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd9ffb991b5e15324c877ed9477166d7995c771a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161221_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:983b6b1c1e2422fc43186550c03350ce2c04e591a632fed3823024ff72fd958b
+size 707534
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_51.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..995df7a341fa5b9d490db9cc96ed568e025649d4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed80a0751831f9791f6c46e101ecf374650d10dccb2e4fb2233c6356b2be79d
+size 713708
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_53.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_53.png
new file mode 100644
index 0000000000000000000000000000000000000000..281448fa010bf986f64e24db92905356f2668642
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161222_53.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5896a363beacee6f48ff8a2cb224f9fc7239c1f638a8a13797e6eb5c0f935c3e
+size 681961
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_54.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_54.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed5bf1394f2e0893392034f6b061d0dd494ac3d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_54.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:175fe06c5f8da5c5f888410dd98381128f59d1db89375b9adbfd52c269a08658
+size 694941
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_55.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_55.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c837111ebc13102b97bcc72c0ed84b5e1ad541a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161223_55.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43ad4385adb4c4d26ec0be608aa8c014ef922d53e3716d185ca7ce17c0569e3
+size 704307
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161224_58.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161224_58.png
new file mode 100644
index 0000000000000000000000000000000000000000..4601c20a9ad3104ff55d6c372fe929ef7d554a2f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161224_58.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58db8b2619cf92776f7c4a6d1a3905d5f4755908c65ad6f7a41096ac0cbcb06d
+size 698065
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161225_59.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161225_59.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4bec8202c62a51c687b159c4ed2c75dcd97036d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-11-58_1541027284/20250114_161225_59.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a98a913a074d489c4c314a31796f382322ea5b162b07ae2a12cd701520b33b1
+size 683884
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160507_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160507_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04c5cd1cf9625a22d7d33aa179a40eda47eeb101
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160507_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6bb087058194aec032d7eac90a67c87a730699d6f9c3817348d0ac83f13975d
+size 692797
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..28ef6fe004d968109737ba97a3e540f0451f1cfc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed74c860420591f930d59d961cf43d42c3a3e2ec5ef4d4961509ea822df1f376
+size 733085
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d14b18fa83852d599b333646fa673f967f69815d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160510_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de6892ea05a56a6f1e7096624e00ab6d3ffcd03bfdb63af513d87d94e266c008
+size 745614
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..6239d570566b1de02b7791f08251f93fa4511e46
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82997b9ad71cf582251409afc6360c4066d698d7b71bd492dda4cbddbd5a639f
+size 756096
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..77d05f42cb9ed5e912ef2aaf4986ac81616f5948
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160511_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f84c184cf31308adb1feb9c2ee4ccc5073cce4ead22b622643c394b91f905223
+size 759590
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..376f3feaf4e74e57e1ddc19902cdb8651d6893f9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e57813a5e42d9b7a12e5a3d8993138933e51f8ace51f386f1129f424a75d0df
+size 763034
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4960e3707f516ab397e9f216d8e6253f23a67c6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b37f34841d4f47aeaa0bf6c039889bb7ffc5b9f95a6ce9b15f5ac6cf9004ffc
+size 766343
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..87449abfd08305322c000b56ee6e9ae761f65ff9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160512_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099bebbd2e06dae0b2185b189ba833627555f43c1cf8fc607f44e0f0d41fdb96
+size 769674
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e5e72b86ad8560092574e9821aafbf884d99de
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d7e076a5cecd072c4d63dc2f6d4eff3c22fdb963243acf918b12535132e5e8
+size 772037
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bd81b861a4e30d36583a4f5cfcb90f5ac696005
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160513_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a8f4cf705ef6b9a9104e1be0416ea47abb080f9e7c62234fc93c625b27090bf
+size 772830
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a5cfe477bfc896dd67b4453c35b5b9a346b930f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae314f8cfc01b7a82045c5b08877728732cbc6b2af5f8bb9547f04936c4fa5af
+size 776624
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbbc3e78a6b2391938433c4baf690d592f2bb08c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160514_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceecfc52b3ce24f90fce029b0ba085de6ab2e628adfbd0f5e9dd69fe672ced78
+size 777327
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a355af0d951d5364db0c48025e0f01e93f45e23
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3d85857f914dfc5f2f7a356b5f84fe90daeed1282b9ed077748a454ae8b0dbf
+size 778154
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..da02d10148dc9929ce17880785dc1ea75b6edfec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea1cf287a448d10750c53ff6c9ec8a9cd2db74fdbf5f0c877edd410e2dd59912
+size 779684
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c5c68b8b061f6e60cd45b40bb118851f27a2c4d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160515_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9f2832eeb73cff3b057e601a735bce21c712c8e5064dd43c3bf1d10dc1d582
+size 783784
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..9253e8ff54f6bd24a9a8e32856c8e725266b604e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c9fb11faf9382a57b2d8acfec414704780fb566edb35f9036ca3374a280949
+size 783335
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..a586b77e9659d683f7cae0607b501704b2dd394b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160516_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8da64f39c5d9241ffa1f877152ef7e0279fafa2606a18170d12604a3b12e2f4
+size 786653
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..4edfd1cf5932ec4037c4fad3fbaf6ad9656ffb03
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458617c32561f2ae95520e5cc5ceb26180cb962e0bcf16d97926cce897e5bc55
+size 786855
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3869f240d9536545956ca3a3e2863467c4cf8d0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160517_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb1d7674c3ce8b8073c172df5e8de7e6340131f428bb482da4bc3b34f9a654b
+size 786835
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..90e10ecca31ac90ea185578107c1f52223b91192
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98481b6b0f6aae5a27b8905ef02a2174867c8152101439b62f32e53ad182e2ca
+size 789802
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..399468ef3553da8b38b325513dbc742f411523a0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:476c991afb42f2be2098063b24fcf4704172b9f11ddb4241857b7fe89d7de783
+size 791230
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f6298bad14b253c717f02de8e3f540d083bfe94
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160518_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:781d8f86c276c38c5ad12d61938d8d3fc38f5755f5cc58de32d5d537d266f999
+size 794696
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..79002a954d46b79fddf869b4d807b711d6a461dc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d553dd36560ee176058f08f605fa4cd273100ceb2ce1b9f5723e9b74230761b
+size 793035
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..677d639754a3d6167f6e05fa4c34e3b11061dba8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160519_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9ff5e4a4b48aceb3aae6f40e34c5508cf264241bb2623d30992245f803b102
+size 789945
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..3eef727a61106bffb0e84b6ed7edf94f72d95224
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3187be8a04329698789612a84b587c1addc592883b1f8fa64b2f99f0a95f77
+size 790669
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff8bb66e4c680be9802cb2cf695623eb16a7b091
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160520_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16645d0aa634a14286c69772a5ba6d93333310a35eb38cfc689fdef58ea6484c
+size 792166
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..096a8c32b22b69e9df7bc1347a7d24b33e1b6a2a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8d40d9c0f991630ebaf3e91299179be05c2831d04b8f87998f35a1b153d82b0
+size 794342
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..1489a9626de56df65b0099a9d8166e55fb026ed0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160521_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc743a8a608bc4e5175f9dce93cbc67249c38a97f003286c1ddebea02543a9f6
+size 796208
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa8ff8ae1209c9eb71d220eb3f213979b25cf10c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6e6a2e7c8f7d73befaf86d2c1b450dcc64e981f36042b694d936d1f6ff151c
+size 798966
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b0dababda2a1645a8db951d89fc1e125682577a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17c30edd30e94de61a13c6d2cec3f0a3937c1e28046fba3b023879d126c59c1f
+size 804725
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..03a30cf086b1eac32dc84e8307ea81b0687e55a3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160522_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9ddbe95e0289fd5d96c6bf46a5ac1752f70a93e6b4323ec7c484ee948fe44e
+size 807494
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..50370b6b6e456b7109ee4e9a1eddafac9567b5a6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b9fbdd4361fae4cf3dd50ae1b9e690528dd5d40a7c533e1cdc246b4e72eb3d
+size 810270
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..eaf017a2ef098bc0212d080eff92a48e5c84890a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160523_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b35deec9e38268df8db3694a69d0e2dfb88021798754f7754cc2b46a79ab75f
+size 814983
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2db8b83f038e807625fe788b963255eb1c250fa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f0dfa1932b067171787aa4d6afe0fe9d369deee4edd23e7ec9af917a213c43c
+size 819009
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..39eefcd556a5033e811afba02910502a4b44c7a0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63127a237e5c43abf3718a6db61396b1e4af6225f87817f46d4510ca71c21b33
+size 822407
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fae5f76c58eaa60ed3b3738c6c5cef3980712be
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160524_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4977dc818ad3c9460ca366d02d54b35bbee620ef95dfc538353ea33d8c0d76
+size 823603
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6a01db5bac8fb15c7e37edad5bbcaa3a86556cf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272e239271bc07c3609404dae309409fc91e45d4fa4f872cc323ffe0e42b8eb6
+size 823544
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9595f5b1cb70b5b838321db8405e60052a84a71
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160525_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3044bd252e3d669aa111532443645055bf5f357e1b1076ed0f213b4d2c9ffffa
+size 826115
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..a73ea3ce6da86de6453ae4219b34d3dfee5026ce
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b769bce7838284348263c5d77ba883cbdbb100582ef5cb3ae25ac697186a0f74
+size 828663
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ac204dd1d2df1ced6b09d7e2323a1ad9c2cec41
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160526_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57afb6e3af12d336fabdcb6513fdd5bc8d3c460b994e08174bf0870af387fb0c
+size 831344
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..e066c8492e0a2bcb4a3d17dfbffb0c960546b002
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db853129d7c167fa2948e8beca00b61d9165cbf72d9ce5a74b9a00267a7cec9
+size 831905
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..4485700414898135bab3677294860b0af52320ef
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1411620e6258327d001f2a037056f524a362fbc76de1c606673c7cf8db2833fe
+size 832643
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..f25ccd2af8506303120c468365d4effec219528d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160527_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8a348576c471e42493e059210de11c8ab77f52b9bb155edd4354e25082c746
+size 835720
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7af47efdf0952d78a479bfd05b6608030205a73
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8350c7075b363419b5728dd6cc89c1a4ff25c7f73bb9e83a34cf730df2763f3
+size 833530
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7ab508558587d98dd796804dc7efac09186a1ac
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160528_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72dbd13ade2bd323f117d4c6e34dc044c410826462d1e1a61f76272f8071fe32
+size 833899
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..df1187ebaf3b7b279424f66a1ede72c32e1f6b65
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515a396fd653082d14bd8b3bddd77e79cd99f485b53876c9422f069c7fffa50e
+size 821348
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_46.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7ba978c07974104af6f0d70d70ad7720d16521f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160529_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1e07db181272db4d290005c34f9a609d8f4fc4718cbe0e12d0ff30f98fa6d3
+size 773707
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddc96283fbb3005dbd26ac83fa57359e0ad65927
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe4646d954ad76782314effbac07ed0cf4febc1be8c8ac469dd1783eeef77776
+size 727985
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..465ff955345fd0049d38422032c072820bab10a2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf640f0db9b9073a326cd97967db2fdeb945ddb020591f30b9fbfd5badd6313a
+size 682504
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5bc95c77b07e5f441e508e6b5103c9f11dc8d1d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160530_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df768206ef072343105149f377584430965fbfc60d5a08836cd96aa77a260799
+size 659387
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_50.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..adf6c79b87ac98b281b853d0cf369b2e86622639
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:001812e5fcb5241762be5570e72939c2af325b3dcf1a29fc11dd89c16312593b
+size 628382
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_51.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_51.png
new file mode 100644
index 0000000000000000000000000000000000000000..58f5b21b4f920288d99d32da772e920ec65715d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160531_51.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8352213131eb232538ec10cd88944ec880232d86f87e74084d767192791c8c
+size 641218
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160532_52.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160532_52.png
new file mode 100644
index 0000000000000000000000000000000000000000..f44f1e7b9c2f912d7549a076fa86371138cff0d6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_16-5-7_1112720090/20250114_160532_52.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05bb2ee2492f561f4decee633827c0ade63d7eb6297f9e92ab41d0e317c1d0b8
+size 592636
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041235_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041235_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfe24cfca5f29ca6bbc6f9f60adf821ed741c4fe
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041235_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96349be6ae4f7e1f387caae436d34e3e7cf4af39875b45740868790e814f7b61
+size 575209
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a0a28331c9853cff496f54969bb631bf899931c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a76da2a2b32371c1beab43a0dd1b34efaf65cf8fa81325936db59bb5fbd6dcbd
+size 597977
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7ddaa55efb04dba47aee955ead73679c5d0f0e5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041238_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e8918bd7c0b2a8815d5bc1a87dbe22821174a276830ed582c472fcfa208f604
+size 638371
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5341d9ea326405d5b19ab95096b476b42aa4494
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26cf3a176c600b58b398a5cb52c2829b886591d053766d84b0c77edfbd57167
+size 662841
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..ece17db546b24ad629e755cccac76cc27a386979
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08d317fc5121d0390bc36b56c889279b21c6fb91ed54b746984125ffd7ebb64b
+size 661481
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5675095e6ceeffff5f4b7dc8a1a793df53d1cc1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041239_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe164e6d1f0f3671757fb97f44c0a7f69c9f30f4a76624cdc6dc14f8770fbe5
+size 662320
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..9306d5aa3e35afd329303769d1ba6c628525d908
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95a59db3b889543a302688e1138b5468d0cd5b8dbca69a627c86cdb05a6fcf76
+size 663479
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4f7ea2286d766f66d373401262bae3c67cdbf14
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041240_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2afbe7ce7e51be825674ff56b29047ec6ec779d58fc77a97a5cad34be1f21273
+size 663362
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c748eb0282d09e7735bba8d7858fd9ddc2d8647
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:096150444d4706c785356cbf523123fdaef26570479dfe1c7b588315a1558f39
+size 663100
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..90301a7724f193ee8fbd6b2f3527c3354c9d0727
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041241_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ef03305cc81848aa89115256f055fea5f878f6c8140f12a44b8fb75013d2d19
+size 664202
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c082eb5aa1dc5d96cae023e155b05d193b956a0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb7c65e23d6b1ca4c1b6804a30ce27491b543e6a149575ae08af9333343330f1
+size 663028
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..69752136f785625e8ce1d2ac4a9d1cc8f27af317
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956026fdc7e8ad27076e5519c688c1898830f73fd76fa1f0423a5ee989159e3e
+size 663921
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f0ae2713b359fe8b4a261e1c5ec31e56d8f54b4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041242_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8ba081fa36c53148283c0238159a96d69afd54c29f15e4d9dc172a45ef4774e
+size 661118
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b09905c16a87cee1c92852e6059a002cab236c7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ff2a76f88e717882083f1609255423a28145ccea5c123865706d6a42799dd8
+size 662900
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..5afef3577157884459eb880bc206adb3eb8dc4bf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041243_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d164913ed46ff1db65d776690f7be7c8c8ea26a050e1fba572bf19ec70b166
+size 664068
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..896eee4eeeeb0e060d1e0fbf5156ba7025b40185
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b2b95b08f3e53d5abf352801cadd6bda563ca0d218ee30ef77d0f2ec219dd3f
+size 664607
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d6e08c849012070aa2b061a694972035687f796
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f15405fd473ef494151d04a53d02d11a076c217338c0e5115656cd520e851e
+size 663282
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0be240cfd126c6836eeec4a7600230b95c1b820
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041244_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52dd8f3fa45173b4f8147e21cfb2762920764033f7898ea8a2cab2e375b79515
+size 658483
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..cde402d49dfdf748070ce6fb7194e3ebbcaad3e2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538bcaf8c149822aec68806f5ae1f42415efae5baf2362a17744cb05c072f202
+size 654993
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..7aaf411ed061215712b0da8a010c6f535fd47ddf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041245_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e6477c4e1c50338e1ba91eb2f23a19ba8fd8180f670cc1423c0a04007616e20
+size 648986
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..442a535eed93a2d929315c67fc6eeecfa576f43d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c508696946d3261eb8a141c79cb51badebf8306944e315fa64ccc612ce57ed16
+size 642119
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0672054605c1be559e0834161fbd893d452c848
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041246_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9536a21c5a2d9b7b80e5ca729a05463781d39b73e8d3ef1c786a4b6babcd780b
+size 629239
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4dd09cb5ab013da701c6e9188bf984c20e3078b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda27f6bf33129c9d9e8349a9aea806bbf72e88d60432d7ef70bfb536fc793b8
+size 668302
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d097f0da3be88e508d54bec1979e74061afd025
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a6f81af53b4952deb7cbe7ef23d9b9d46e62f12108c7cfbfb28ebc8428972d5
+size 672687
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..061f036ffdb1b523435112e8eef5a6b312bb8265
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041247_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4d8f4732b476ceb797b66c1dddc126f3baa09627aa7b5651a05182c794368f
+size 669345
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..caeb780f76be058ebac014c6918d630bb95d1a1f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2299132fda7adf80f44b995a035d45bdabf4dbcd924686a77fff841eb4ca440f
+size 661860
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..1316371c820ba05f616e7f141099699c3942de25
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041248_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9012475bb923c16bb827ff2a1b14b3ca04fe42ca955443353f6ed5a16d09f59
+size 651806
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c8b3e157d323d7728d2dad936b2e945d3a0df86
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:328046e42354499cdedf0a66edda1ab6435d1e5c9c8c90da6e92bc99db0a15c2
+size 674642
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..3922cf7939b8292ade9c0bbb7de1a6b1cbea641f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10e02a321c4f0519fef984471dc1af3fb68cc4d89dac25ce5d423f064269b17
+size 664908
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8673d063a1076f9aff1432abf7afd3bdb29730f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041249_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f625996cfc4321b66f673f8b7a1f4aa2e339f11959c88a6421259c9dfb1f0046
+size 658063
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ced2495ebdcabae755f3bd10f64cd4278d39c2b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db811cb78fcdb6818cdca24cf1d82362aea503b34a03995060acc37a31959e6
+size 646058
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f3410fb4bddc9a3aeedec2b29c4bc127abdd4b3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041250_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0543ae17c70876086b311af6369cf2a9fa68b47ee9a8725aab2d0894b92f2098
+size 627007
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb7faeb77cec825bbed6e3bc7b02fb6457b10d7b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:643be8c9adb43df24823041709c0ce0bc35c81e80f4bd2f78d82e7e91ce1dd9f
+size 617598
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b16f5a05319ffbad8f9c648b6804f8270992eab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10e694675a9a1124694c2c56fb426aa998c1616106d4a4c144f5ce7b01e7447
+size 614134
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8a8ed44fa927e0359aecaae217d5bd755f478
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041251_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bde97997942651d40701e5dcce2dae2f227c107b0d6a186ff32a33e903dfb2b
+size 618805
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..26200f49a19076f080aebf24ac583ac8021fe63d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fc58322fd30c4465c41731b89ebb42221bbe52002b53cfe679786eacb1b2e51
+size 622924
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..a353c6b37146b084f62d58ab046741b647bdff14
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041252_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58c17f2eb8e68c8be93ffcbf9e84605e2abd369c4699f3e1661915b8c26cd37
+size 626093
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a3763cdb4a451884e3a49f78112d2a6bfcea81f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5691f5dce52b5689445a85779a26ddeb38bd85bec0f21ef94fa2ae93d2163e93
+size 627504
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..d59078cf67976bfc702e3b8f682c250756fc8b57
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3433f0369d09ef7acb13cb65d9e30db822f1cce2f4af9beef0aee3dd46c623cb
+size 615653
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..62aba72b9328ff3100a516bd15c89ad985e3fc41
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041253_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8a9abbbe2d499f37c087a6b4ef1172e93a01ddf1ed0b58c0820f14210e05201
+size 604277
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..cee805f1feefc1b75ccbf4f84dfb8bc7788ca792
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655027c70de8818d3042314b36473c53c9ecbc6b951a6de4c6d87634100d8ded
+size 570466
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..60d0bfce61d14b3f387be452af52241241d39b76
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041254_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96dcfae9c581476ffdc5486341d0895aa8febff88d5599df9bdf9c0ae0549c2b
+size 500517
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ba61356cc2ccff711aeba4ade8d4727b5bf91d4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1ba44cf418b808533c5d4d9cc57df2122a0fb03bcd1f8693133aa90c06ec9d1
+size 482134
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdee5187e0b9e84164aca4d22b793b254f9ca7a6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8bbe19ce0643f6124278e55b722c79885456ea7e2efe5475a6fd0d36dca5b24
+size 497833
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6f18aaf22855a308f561b1472d904165d7cb871
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041255_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae1b8c843b3c0599fe1cadb86df42b29f9d55c879b50c3fe1eb970043567d37d
+size 494175
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a621b2237c37c96d50d1f49ddca4bde1f8306bd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579d569b78d59fbdebc848acd54eaead32d9e29dc99bfc021e15cd96225bdc11
+size 409604
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_46.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ba159d0e53e19a321a4a2dd86c742506d82dd26
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94190fcb7a36af294413a38fed0a67e5c149431fab5081956624c1acdd1cb19d
+size 309223
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d7383c44283405c316a5d6da8c2f23f45188ea6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041256_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0e055130155455288104866546cd305053c8f621e3febcb5ef7909c712c191a
+size 433981
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..3495d98c126cf9f0e0cb242d1cfde5d8780d5243
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7e8eb74e6947af15f13a7f2d2824e8baba0408f1a65b13903ec1eadd33fc3cb
+size 485360
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..6cbb0a2da7262aabe379eb7dc8e665eab4a00933
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-12-35_786039021/20250114_041257_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6fb58cf368ac8b73eaf4b54083578f55cb0a0b1875d52b8237c6404075636d
+size 613370
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043023_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043023_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7b8327fad143e538674d82780bb000a62e35abc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043023_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02d93ed0dd338a83f2a076af5c8c305bb422afc540bcb1be769e0b0137187fc7
+size 736847
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043026_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043026_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..611a5fb2031210feb896de830734ab7597915308
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043026_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ade5ec5b9654893529799ea5e4d750dbbaeddb2c48a86665aed50d655819a4
+size 681001
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6324b8f1da653fa3cbf003d972175c142da8f22e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564ee68ed7e2273d948fcb98cf78fbabe05688165682e71230329ae63cb2aa6f
+size 712006
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..94422c0756f1968b93ce374786799ead24084683
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92428275ea4002281e02198abf530f90ff982c78d9a434bbeb713cbc4527aed
+size 736509
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d3217d00ab3989ed9c7cc298084accd6c7dfec0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043027_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b776e940e0481494614595325b7a21b3b59b5c6b94271f3975b0c4ceb78e88c
+size 752053
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..27aa0df6efa6c9778aec65f214f32293eee07ebb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c02282397c15aece6639bd59475a438e73f4f34c139d10dbc3692b5ddfc26b40
+size 766094
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3be972614bee57ba9fdf3b7772bde24d8d7b742
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043028_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5affd3c15264f68875c956117e6efda13c1c1f9505658c9b95f1fc64a8f3ab6e
+size 775916
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb649a326a875330d9d8e470568cffc3ab6ef7dd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfd873f95ab4a1c9b2721157cfc6e97f8261ec400e47fe9128e7bccb21168c40
+size 773006
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..9128a8378e68b9527107843300328cc5df028e56
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043029_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db5e4abb2350fb71d696e072c40e82151295cc4b676bd6e160e675e8e0d0109
+size 771612
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..470718f95a41922ab2e2435f1cea4db75654975f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f7fc0f7171d1976a5e2be7206a34084ed281af52d3c57e90ca1637957538fa
+size 753734
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b63181687ae02905197b8c9505605502d833eb4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e807ffd415fb13ca6f1e705d01723f4219bfa85ad52a6223c874e7671b333b1
+size 742402
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f4d1bd22bf5438fe3b5bccd12789dc4632fd184
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043030_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e27d368ad638a3331e558dcb85f455bec82266d5cd6630150f74dbb8a4a78696
+size 762971
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bd63a55ac2a51065a1339ea30c48525408cf5fd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e82c64d05207677a2ec6adff0c14390dfb8cfa4b2140e54e3bef787a3d3c5b1
+size 724501
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..89718bf5aa471943b869e997e6e034977a0b608d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043031_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d452426998fc2bc76ce54f8785fb931a907584028ec937bac27489e26894496
+size 710390
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..19ed19e80574d22d675d72e1813f714ff98cf2c5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f614b854ad9e5cdf29adac3db3561f315104df772dbe69da8ccac6f617c18189
+size 704360
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e38f0476b5e54888fbbd9d2899cab02b2288cd0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043032_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbfa84150605d8b8d03c94e3936d35c894cf621d167e6a5cd209f51c924bb562
+size 763067
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..0196a3f362df577be15c0cc17ec9713a40b156f0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2ffa56f66193149bc5fabdbc79f9b661524dbf0f0afe2010fca2922ef97cb0f
+size 747392
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..770dcb7d10526cbc1487e124d8e3134e9b19de74
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d174914383754dc8326c517cfdf8eec4ed7ba533077d95646063b21d1aed5af1
+size 751015
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d731e6279fdf8517cd99dcb6c2465189bc788cb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043033_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a289c729d0336e736c6259be8ae34064814e70aaf7902a6b838a25a3a455b2ac
+size 745635
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f2592b9b159cf94bf8a449c360d44bdaa2ab6e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd97ff3389494e90ae7629faabc2f14caeeeda452efb9d417408b7b6dc5bbfbf
+size 720656
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f6a5954799c38bc603051db6881659aafb51f60
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043034_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8544cb7594af72210d36422bf059d8d499c9c3930bd516608849eea2aa00ca0e
+size 696996
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee3a8aa067f69ec2c3f181fca282da51446392f3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ba844d67501bdfe6bc1041d411e6520429f7e5cef273cec2b22a1309a4a561
+size 678409
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..951e2edb707341b8286745c7308573e385a2e6d3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0042a76e1471090343aacd60b0c0b5757a23724537f312b37f74cb90af4406b8
+size 660440
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ffc65688442318c39e79989d7ab2c132b9af24f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043035_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:085f6b694ef521f05f0eac51d5b889655c910469cb5cf7d82630f1b440bfb594
+size 634153
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..5513e1e07f523344f4fd75934047d02ff29b8290
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22b2d55609e098f9f3021d9b5437bccb6efad673af1354ed585a51145fc797c8
+size 605684
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5299e2c215bb88a25da03a1c648e93d6b5ae397
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043036_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6cb8e4f39b66a49e4db56defa2408e12330343ee42eb710313abf733618f875
+size 601013
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043037_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043037_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..e29b0dafd3faa9fa2be6ab79d5ea252b906ea746
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_4-30-23_1269400346/20250114_043037_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d956202ce2eed18046d7a2ae412748a9c1a82c0057b2fa2e3d4d8de2c233cf6
+size 682515
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-01-19_06-55-35_476337/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-01-19_06-55-35_476337/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..14fc197b62fc3dae970f2e408565c877f29e6e58
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-01-19_06-55-35_476337/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -45.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -42.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -39.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -36.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -33.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -30.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -27.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -27.86907152961585,
+            -66.79885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -25.270995318262536,
+            -65.29885008148204,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -22.67291910690922,
+            -63.798850081482044,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -20.074842895555904,
+            -62.298850081482044,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -17.476766684202587,
+            -60.798850081482044,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -14.878690472849271,
+            -59.298850081482044,
+            -14.030541685236908
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -14.878690472849271,
+            -59.298850081482044,
+            -17.03054168523691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -14.878690472849271,
+            -59.298850081482044,
+            -17.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -13.378690472849271,
+            -56.70077387012873,
+            -17.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -11.878690472849271,
+            -54.10269765877541,
+            -17.03054168523691
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -11.878690472849271,
+            -54.10269765877541,
+            -20.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -10.378690472849271,
+            -51.504621447422096,
+            -20.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -8.878690472849271,
+            -48.90654523606878,
+            -20.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -7.3786904728492715,
+            -46.308469024715464,
+            -20.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -5.8786904728492715,
+            -43.71039281336215,
+            -20.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -4.3786904728492715,
+            -41.11231660200883,
+            -20.03054168523691
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -4.3786904728492715,
+            -41.11231660200883,
+            -23.03054168523691
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -4.3786904728492715,
+            -41.11231660200883,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -2.878690472849271,
+            -38.514240390655516,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -1.3786904728492706,
+            -35.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -1.3786904728492706,
+            -35.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -1.3786904728492704,
+            -32.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -1.3786904728492704,
+            -32.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -1.3786904728492704,
+            -32.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -3.9767666842025866,
+            -31.4161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -6.574842895555903,
+            -29.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -6.574842895555903,
+            -29.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -6.574842895555903,
+            -29.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -6.574842895555903,
+            -26.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -6.574842895555903,
+            -23.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -6.574842895555903,
+            -20.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -6.574842895555903,
+            -17.9161641793022,
+            -26.03054168523691
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -6.574842895555903,
+            -17.9161641793022,
+            -23.03054168523691
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -6.574842895555903,
+            -17.9161641793022,
+            -20.03054168523691
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -6.574842895555903,
+            -17.9161641793022,
+            -17.03054168523691
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -6.574842895555903,
+            -17.9161641793022,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            8.0,
+            1.51296
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-1_945117276/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-1_945117276/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cc9dd69002ec616e81c43ff25a573ef3547ece4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-21-1_945117276/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            480.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            483.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            486.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            489.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            492.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            495.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            498.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            501.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            504.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            504.60694187265585,
+            97.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            507.20501808400917,
+            98.62785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            509.8030942953625,
+            100.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            512.4011705067157,
+            101.62785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            514.9992467180691,
+            103.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            517.5973229294225,
+            104.62785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            520.1953991407759,
+            106.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            522.7934753521292,
+            107.62785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            525.3915515634826,
+            109.12785761975047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            527.989627774836,
+            110.62785761975047,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "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/medium_short/2025-1-8_20-36-14_168002245/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-36-14_168002245/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43b1ad410fbdac25a1595988604d34a5e96d4b1e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-36-14_168002245/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1882.8851739360887,
+            -132.94034400037276,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1884.3851739360887,
+            -130.34226778901944,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1885.8851739360887,
+            -127.74419157766613,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1887.3851739360887,
+            -125.14611536631281,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1888.8851739360887,
+            -122.5480391549595,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1890.3851739360887,
+            -119.94996294360618,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1891.8851739360887,
+            -117.35188673225286,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1893.3851739360887,
+            -114.75381052089955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1894.8851739360887,
+            -112.15573430954623,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1896.3851739360887,
+            -109.55765809819292,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1897.8851739360887,
+            -106.9595818868396,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1899.3851739360887,
+            -104.36150567548628,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1900.8851739360887,
+            -101.76342946413297,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1902.3851739360887,
+            -99.16535325277965,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1903.8851739360887,
+            -96.56727704142634,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1905.3851739360887,
+            -93.96920083007302,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1906.8851739360887,
+            -91.3711246187197,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1906.8851739360887,
+            -91.3711246187197,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1909.483250147442,
+            -89.8711246187197,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1932.0,
+            -56.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-50-51_1544617505/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-50-51_1544617505/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..22eaf3bae0ba0c134f3797e13348ec9e6f1a5ae4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-50-51_1544617505/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1035.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1038.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1041.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1044.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1047.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1050.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1053.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1056.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1059.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1062.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1065.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1068.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1071.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1074.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1077.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1077.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1077.9753376097901,
+            -71.54902303530432,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1079.4753376097901,
+            -68.950946823951,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1080.9753376097901,
+            -66.35287061259768,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1100.0,
+            -60.0,
+            0.517449
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-58-24_552473416/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-58-24_552473416/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f69f132790a0330bf039e4e4de7eefcaf018ac83
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_20-58-24_552473416/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -62.57547351329282,
+            -297.20275757796344,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -61.07547351329282,
+            -294.6046813666101,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -59.57547351329282,
+            -292.0066051552568,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -58.07547351329282,
+            -289.4085289439035,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -56.57547351329282,
+            -286.8104527325502,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -55.07547351329282,
+            -284.21237652119686,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -53.57547351329282,
+            -281.61430030984354,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -52.07547351329282,
+            -279.0162240984902,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -50.57547351329282,
+            -276.4181478871369,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -49.07547351329282,
+            -273.8200716757836,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -47.57547351329282,
+            -271.2219954644303,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -46.07547351329282,
+            -268.62391925307696,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -44.57547351329282,
+            -266.02584304172365,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -43.07547351329282,
+            -263.42776683037033,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -41.57547351329282,
+            -260.829690619017,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -40.07547351329282,
+            -258.2316144076637,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -38.57547351329282,
+            -255.63353819631038,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -37.07547351329282,
+            -253.03546198495707,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -35.57547351329282,
+            -250.43738577360375,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -20.0,
+            -224.0,
+            -27.925
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-12-24_697517721/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-12-24_697517721/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..232d7b2aa0f2cbfd6e0b48c697dad6d0b94ab2d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-12-24_697517721/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1687.1271604453152,
+            243.55781744755524,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1688.6271604453152,
+            240.95974123620192,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1690.1271604453152,
+            238.3616650248486,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1691.6271604453152,
+            235.7635888134953,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1693.1271604453152,
+            233.16551260214197,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1694.6271604453152,
+            230.56743639078866,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1696.1271604453152,
+            227.96936017943534,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1697.6271604453152,
+            225.37128396808203,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1699.1271604453152,
+            222.7732077567287,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1700.6271604453152,
+            220.1751315453754,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1702.1271604453152,
+            217.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1702.1271604453152,
+            217.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1704.7252366566686,
+            216.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1707.323312868022,
+            214.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1709.9213890793753,
+            213.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1712.5194652907287,
+            211.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1715.117541502082,
+            210.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1717.7156177134354,
+            208.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1720.3136939247888,
+            207.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1722.9117701361422,
+            205.57705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1725.5098463474956,
+            204.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1725.5098463474956,
+            204.07705533402208,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1727.0098463474956,
+            201.47897912266876,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1728.5098463474956,
+            198.88090291131545,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1730.0098463474956,
+            196.28282669996213,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1731.5098463474956,
+            193.6847504886088,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1733.0098463474956,
+            191.0866742772555,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1733.0098463474956,
+            191.0866742772555,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1735.607922558849,
+            189.5866742772555,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1752.0,
+            172.0,
+            0.929306
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-24-17_452867621/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-24-17_452867621/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15b3037928f6e36285862d28d59ead05c81872e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-24-17_452867621/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -16.63839995007497,
+            -161.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -16.63839995007497,
+            -164.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -16.63839995007497,
+            -167.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -16.63839995007497,
+            -170.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -16.63839995007497,
+            -173.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -16.63839995007497,
+            -176.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -16.63839995007497,
+            -179.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -16.63839995007497,
+            -182.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -16.63839995007497,
+            -185.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -16.63839995007497,
+            -188.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -16.63839995007497,
+            -191.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -16.63839995007497,
+            -194.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -16.63839995007497,
+            -197.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -16.63839995007497,
+            -200.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -16.63839995007497,
+            -203.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -16.63839995007497,
+            -206.21876813071304,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -20.0,
+            -224.0,
+            -27.925
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-30-43_1781999754/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-30-43_1781999754/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e4e4d87803f9dd07a53e01b7c8c936e78b74b3b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-30-43_1781999754/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1921.3900901186557,
+            123.20363201067129,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1924.3900901186557,
+            123.20363201067129,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1924.3900901186557,
+            123.20363201067129,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1924.3900901186557,
+            123.20363201067129,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1925.8900901186557,
+            120.60555579931797,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1927.3900901186557,
+            118.00747958796465,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1928.8900901186557,
+            115.40940337661134,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1930.3900901186557,
+            112.81132716525802,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1931.8900901186557,
+            110.2132509539047,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1933.3900901186557,
+            107.61517474255139,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1934.8900901186557,
+            105.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1934.8900901186557,
+            105.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1937.488166330009,
+            103.51709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1940.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1940.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1943.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1946.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1949.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1952.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1955.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1958.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1961.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1964.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1967.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1970.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1973.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1976.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1979.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1982.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1985.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1988.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1991.0862425413625,
+            102.01709853119807,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            96.0,
+            2.4858
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-34-59_1795519125/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-34-59_1795519125/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eec3cc755df661560623932a6f7fbb8c292020f4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-34-59_1795519125/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1520.6229988916082,
+            -119.65760613744102,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1519.1229988916082,
+            -117.0595299260877,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1517.6229988916082,
+            -114.46145371473439,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1516.1229988916082,
+            -111.86337750338107,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1514.6229988916082,
+            -109.26530129202776,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1513.1229988916082,
+            -106.66722508067444,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1511.6229988916082,
+            -104.06914886932113,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1510.1229988916082,
+            -101.47107265796781,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1508.6229988916082,
+            -98.8729964466145,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1507.1229988916082,
+            -96.27492023526118,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1505.6229988916082,
+            -93.67684402390786,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1488.0,
+            -52.0,
+            18.9243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-39-0_816504794/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-39-0_816504794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b8d56046f22cd68edaf9e7012925ced33f40362
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-39-0_816504794/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1315.8048250333666,
+            961.9045086346713,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1314.3048250333666,
+            959.306432423318,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1312.8048250333666,
+            956.7083562119647,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1311.3048250333666,
+            954.1102800006113,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1309.8048250333666,
+            951.5122037892579,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1308.3048250333666,
+            948.9141275779045,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1306.8048250333666,
+            946.3160513665512,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1305.3048250333666,
+            943.7179751551978,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1303.8048250333666,
+            941.1198989438444,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1302.3048250333666,
+            938.521822732491,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1302.3048250333666,
+            938.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1302.3048250333666,
+            935.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1302.3048250333666,
+            932.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1302.3048250333666,
+            929.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1302.3048250333666,
+            926.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1302.3048250333666,
+            923.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1302.3048250333666,
+            920.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1302.3048250333666,
+            917.521822732491,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1302.3048250333666,
+            914.521822732491,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-40-57_1739000681/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-40-57_1739000681/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cfe658a616c233481fb5a98e780d47537407cc25
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-40-57_1739000681/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1018.0743070435188,
+            465.57702362851296,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1021.0743070435188,
+            465.57702362851296,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1024.0743070435187,
+            465.57702362851296,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1024.0743070435187,
+            465.57702362851296,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1024.0743070435187,
+            465.57702362851296,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1025.5743070435187,
+            462.97894741715965,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1027.0743070435187,
+            460.38087120580633,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1028.5743070435187,
+            457.782794994453,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1030.0743070435187,
+            455.1847187830997,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1031.5743070435187,
+            452.5866425717464,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1033.0743070435187,
+            449.98856636039307,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1034.5743070435187,
+            447.39049014903975,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1036.0743070435187,
+            444.79241393768643,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1037.5743070435187,
+            442.1943377263331,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1039.0743070435187,
+            439.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1039.0743070435187,
+            439.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1041.672383254872,
+            438.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1044.2704594662255,
+            436.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1046.8685356775788,
+            435.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1049.4666118889322,
+            433.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1052.0646881002856,
+            432.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1054.662764311639,
+            430.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1057.2608405229923,
+            429.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1059.8589167343457,
+            427.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1062.456992945699,
+            426.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1065.0550691570525,
+            424.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1067.6531453684058,
+            423.0962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1070.2512215797592,
+            421.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1070.2512215797592,
+            421.5962615149798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1071.7512215797592,
+            418.9981853036265,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1073.2512215797592,
+            416.40010909227317,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            400.0,
+            -7.75826
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-42-10_1144522535/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-42-10_1144522535/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f6145e9e0ef3b948059d04778fdd92c12a601
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-42-10_1144522535/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1240.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1243.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1246.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1249.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1252.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1252.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1252.8336131938754,
+            924.6019120273609,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1254.3336131938754,
+            922.0038358160075,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1255.8336131938754,
+            919.4057596046541,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1257.3336131938754,
+            916.8076833933007,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1257.3336131938754,
+            916.8076833933007,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1259.9316894052288,
+            915.3076833933007,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1262.5297656165822,
+            913.8076833933007,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-52-7_1184214677/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-52-7_1184214677/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09a3771ba04f279e3850ea06d57b3db72cb7a26b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-52-7_1184214677/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            866.5008621968956,
+            74.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            866.5008621968956,
+            71.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            866.5008621968956,
+            68.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            866.5008621968956,
+            65.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            866.5008621968956,
+            62.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            866.5008621968956,
+            59.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            866.5008621968956,
+            56.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            866.5008621968956,
+            53.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            866.5008621968956,
+            50.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            866.5008621968956,
+            47.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            866.5008621968956,
+            44.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            866.5008621968956,
+            41.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            866.5008621968956,
+            38.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            866.5008621968956,
+            35.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            866.5008621968956,
+            32.16827522021737,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            866.5008621968956,
+            29.168275220217367,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            866.5008621968956,
+            26.168275220217367,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            866.5008621968956,
+            26.168275220217367,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            868.0008621968956,
+            23.57019900886405,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            869.5008621968956,
+            20.972122797510735,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            872.0,
+            4.0,
+            -27.3656
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-7-19_1069755936/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-7-19_1069755936/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e88cf656532aa2fa415c18fdaee8fc7fb4c53f16
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-7-19_1069755936/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1526.069413243996,
+            -329.8333810049345,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1527.569413243996,
+            -327.2353047935812,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1529.069413243996,
+            -324.63722858222786,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1530.569413243996,
+            -322.03915237087455,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1532.069413243996,
+            -319.44107615952123,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1533.569413243996,
+            -316.8429999481679,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1535.069413243996,
+            -314.2449237368146,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1536.569413243996,
+            -311.6468475254613,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1538.069413243996,
+            -309.04877131410797,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1539.569413243996,
+            -306.45069510275465,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1541.069413243996,
+            -303.85261889140133,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1542.569413243996,
+            -301.254542680048,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1544.069413243996,
+            -298.6564664686947,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1545.569413243996,
+            -296.0583902573414,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1547.069413243996,
+            -293.46031404598807,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1548.569413243996,
+            -290.86223783463475,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1564.0,
+            -268.0,
+            -6.14624
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-8-2_1856669179/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-8-2_1856669179/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..05f136950c8f3b382531e491c4ae9353599957b7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_21-8-2_1856669179/pose.jsonl
@@ -0,0 +1,275 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            936.8950946105332,
+            -109.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            936.8950946105332,
+            -106.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            936.8950946105332,
+            -103.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            936.8950946105332,
+            -100.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            936.8950946105332,
+            -97.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            936.8950946105332,
+            -94.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            936.8950946105332,
+            -91.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            936.8950946105332,
+            -88.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            936.8950946105332,
+            -85.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            936.8950946105332,
+            -82.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            936.8950946105332,
+            -79.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            936.8950946105332,
+            -76.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            936.8950946105332,
+            -73.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            936.8950946105332,
+            -70.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            936.8950946105332,
+            -67.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            936.8950946105332,
+            -67.60261967571849,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            935.3950946105332,
+            -65.00454346436517,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            933.8950946105332,
+            -62.406467253011854,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            932.3950946105332,
+            -59.80839104165854,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            930.8950946105332,
+            -57.21031483030522,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            928.0,
+            -32.0,
+            19.9495
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-12-36_1302539390/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-12-36_1302539390/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b0b1a03022f0ed16a2b9d50646544d627e3dcc9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-12-36_1302539390/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -14.088881116119978,
+            62.22634340366747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -12.588881116119978,
+            59.628267192314155,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -11.088881116119978,
+            57.03019098096084,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -9.588881116119978,
+            54.43211476960752,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -8.088881116119978,
+            51.83403855825421,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -6.588881116119978,
+            49.23596234690089,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -5.088881116119978,
+            46.637886135547575,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -3.588881116119978,
+            44.03980992419426,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -2.0888811161199774,
+            41.44173371284094,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -0.588881116119977,
+            38.84365750148763,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            0.9111188838800235,
+            36.24558129013431,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2.411118883880024,
+            33.647505078780995,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            3.9111188838800244,
+            31.04942886742768,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            5.411118883880025,
+            28.451352656074363,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            6.911118883880025,
+            25.853276444721047,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965974
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            8.0,
+            1.51296
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-16-32_1655035325/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-16-32_1655035325/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98916ca7b0247fbcf0f1b1d4c8925eb8ad9749d5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-16-32_1655035325/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1136.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1139.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1142.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1145.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1148.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1151.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1154.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1157.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1160.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1163.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1166.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1169.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1172.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1172.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1172.5610082541982,
+            841.1669832812851,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1174.0610082541982,
+            838.5689070699318,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1175.5610082541982,
+            835.9708308585784,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1175.5610082541982,
+            835.9708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1178.1590844655516,
+            834.4708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1180.757160676905,
+            832.9708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1183.3552368882583,
+            831.4708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1185.9533130996117,
+            829.9708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1188.551389310965,
+            828.4708308585784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1191.1494655223185,
+            826.9708308585784,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            820.0,
+            17.114
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-52-25_590335821/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-52-25_590335821/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4c8a8538cbc0ddd81b9712915aab2b3429cc41c4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_22-52-25_590335821/pose.jsonl
@@ -0,0 +1,262 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1913.2967320021978,
+            272.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1910.6986557908444,
+            274.32748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1908.100579579491,
+            275.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1905.5025033681377,
+            277.32748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1902.9044271567843,
+            278.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1900.306350945431,
+            280.32748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1897.7082747340776,
+            281.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1895.1101985227242,
+            283.32748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1892.5121223113708,
+            284.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1889.9140461000175,
+            286.32748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1887.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1887.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1884.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1881.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1878.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1875.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1872.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1869.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1866.315969888664,
+            287.82748258388403,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1824.0,
+            300.0,
+            -9.52448
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-20-5_772634225/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-20-5_772634225/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1089e9ba9183d101347460dcc5061948abdef5c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-20-5_772634225/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            368.2565676499594,
+            523.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            368.2565676499594,
+            520.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            368.2565676499594,
+            517.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            368.2565676499594,
+            514.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            368.2565676499594,
+            511.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            368.2565676499594,
+            508.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            368.2565676499594,
+            505.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            368.2565676499594,
+            502.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            368.2565676499594,
+            499.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            368.2565676499594,
+            496.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            368.2565676499594,
+            493.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            368.2565676499594,
+            490.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            368.2565676499594,
+            487.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            368.2565676499594,
+            484.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            368.2565676499594,
+            481.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            368.2565676499594,
+            478.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            368.2565676499594,
+            475.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            368.2565676499594,
+            472.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            368.2565676499594,
+            469.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            368.2565676499594,
+            466.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            368.2565676499594,
+            463.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            368.2565676499594,
+            460.722271558447,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            368.2565676499594,
+            460.722271558447,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            366.7565676499594,
+            458.1241953470937,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            365.2565676499594,
+            455.5261191357404,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            436.0,
+            -27.9027
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-29-57_242588954/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-29-57_242588954/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a45b089a55a3a01965c66bcbd149848602d5e7f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-29-57_242588954/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1372.0513190996926,
+            215.23695746088214,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1373.5513190996926,
+            217.83503367223545,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1375.0513190996926,
+            220.43310988358877,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1376.5513190996926,
+            223.0311860949421,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1378.0513190996926,
+            225.6292623062954,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1379.5513190996926,
+            228.22733851764872,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1381.0513190996926,
+            230.82541472900203,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1382.5513190996926,
+            233.42349094035535,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1384.0513190996926,
+            236.02156715170867,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1385.5513190996926,
+            238.61964336306198,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1387.0513190996926,
+            241.2177195744153,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1388.5513190996926,
+            243.81579578576861,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1390.0513190996926,
+            246.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1390.0513190996926,
+            246.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1390.0513190996926,
+            249.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1390.0513190996926,
+            252.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1390.0513190996926,
+            255.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1390.0513190996926,
+            258.41387199712193,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            284.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-38-11_610486506/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-38-11_610486506/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fbfae7d0b32646dc190c7f53b76e4f45eb38f111
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-38-11_610486506/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            577.7270580359495,
+            210.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            577.7270580359495,
+            207.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            577.7270580359495,
+            204.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            577.7270580359495,
+            201.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            577.7270580359495,
+            198.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            577.7270580359495,
+            195.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            577.7270580359495,
+            192.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            577.7270580359495,
+            189.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            577.7270580359495,
+            186.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            577.7270580359495,
+            183.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            577.7270580359495,
+            180.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            577.7270580359495,
+            177.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            577.7270580359495,
+            174.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            577.7270580359495,
+            171.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            577.7270580359495,
+            168.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            577.7270580359495,
+            165.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            577.7270580359495,
+            162.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            577.7270580359495,
+            159.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            577.7270580359495,
+            156.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            577.7270580359495,
+            156.9501186089762,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            576.2270580359495,
+            154.35204239762288,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            574.7270580359495,
+            151.75396618626957,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            573.2270580359495,
+            149.15588997491625,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            571.7270580359495,
+            146.55781376356293,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            570.2270580359495,
+            143.95973755220962,
+            -14.030541685236908
+        ],
+        "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/medium_short/2025-1-8_23-42-36_978587665/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-42-36_978587665/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..696fa44178638dece0f030ef12b4066a7484c597
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-42-36_978587665/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -35.36800489302159,
+            258.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -35.36800489302159,
+            261.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -35.36800489302159,
+            264.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -35.36800489302159,
+            267.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -35.36800489302159,
+            270.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -35.36800489302159,
+            273.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -35.36800489302159,
+            276.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -35.36800489302159,
+            279.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -35.36800489302159,
+            282.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -35.36800489302159,
+            285.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -35.36800489302159,
+            288.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -35.36800489302159,
+            291.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -35.36800489302159,
+            294.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -35.36800489302159,
+            297.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -35.36800489302159,
+            300.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -35.36800489302159,
+            303.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -35.36800489302159,
+            306.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -35.36800489302159,
+            309.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -35.36800489302159,
+            312.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -35.36800489302159,
+            315.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -35.36800489302159,
+            318.6690650329873,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -36.0,
+            344.0,
+            63.6789
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-49-42_1968922326/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-49-42_1968922326/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..059a5e835362c212995d479c868eaac43dc2af7c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-49-42_1968922326/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            591.8579164480536,
+            320.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            589.2598402367003,
+            321.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            586.6617640253469,
+            323.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            584.0636878139935,
+            324.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            581.4656116026401,
+            326.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            578.8675353912868,
+            327.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            576.2694591799334,
+            329.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            573.67138296858,
+            330.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            571.0733067572266,
+            332.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            568.4752305458733,
+            333.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            565.8771543345199,
+            335.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            563.2790781231665,
+            336.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            560.6810019118132,
+            338.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            558.0829257004598,
+            339.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            555.4848494891064,
+            341.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            552.886773277753,
+            342.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            550.2886970663997,
+            344.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            547.6906208550463,
+            345.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            545.0925446436929,
+            347.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            542.4944684323395,
+            348.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            539.8963922209862,
+            350.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            537.2983160096328,
+            351.86919637980014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            534.7002397982794,
+            353.36919637980014,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            508.0,
+            368.0,
+            0.299706
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-54-59_929588156/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-54-59_929588156/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba9c45c5bd662db5f2ca723b801dc2805a977766
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-8_23-54-59_929588156/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1400.4902216517482,
+            350.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1400.4902216517482,
+            347.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1400.4902216517482,
+            344.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1400.4902216517482,
+            341.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1400.4902216517482,
+            338.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1400.4902216517482,
+            335.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1400.4902216517482,
+            332.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1400.4902216517482,
+            329.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1400.4902216517482,
+            326.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1400.4902216517482,
+            323.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1400.4902216517482,
+            320.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1400.4902216517482,
+            317.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1400.4902216517482,
+            314.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1400.4902216517482,
+            311.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1400.4902216517482,
+            308.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1400.4902216517482,
+            305.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1400.4902216517482,
+            302.74369858669974,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            284.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-17-57_1107096180/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-17-57_1107096180/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..141a20245673a8172c32532602c5310cb5f6dad3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-17-57_1107096180/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            123.05507214944437,
+            311.03177292963284,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            121.55507214944437,
+            308.4336967182795,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            120.05507214944437,
+            305.8356205069262,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            118.55507214944437,
+            303.2375442955729,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            117.05507214944437,
+            300.6394680842196,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            115.55507214944437,
+            298.04139187286626,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            115.55507214944437,
+            298.04139187286626,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            112.95699593809105,
+            296.54139187286626,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            88.0,
+            260.0,
+            17.1304
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-2-46_2053232475/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-2-46_2053232475/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a32a7dbaf35dbdbb18bb136e08b6612146d76a1b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-2-46_2053232475/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1501.1869200608078,
+            371.6945392048011,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1499.6869200608078,
+            369.0964629934478,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1498.1869200608078,
+            366.4983867820945,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1496.6869200608078,
+            363.90031057074117,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1495.1869200608078,
+            361.30223435938785,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1493.6869200608078,
+            358.70415814803454,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1492.1869200608078,
+            356.1060819366812,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1490.6869200608078,
+            353.5080057253279,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1490.6869200608078,
+            353.5080057253279,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1490.6869200608078,
+            350.5080057253279,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1472.0,
+            304.0,
+            103.299
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-21-28_1683932587/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-21-28_1683932587/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..839123fec1be80364f9a22236dca5a95d3e86608
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-21-28_1683932587/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1692.113399820362,
+            -138.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1689.5153236090086,
+            -139.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1686.9172473976553,
+            -141.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1684.319171186302,
+            -142.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1681.7210949749485,
+            -144.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1679.1230187635952,
+            -145.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1676.5249425522418,
+            -147.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1673.9268663408884,
+            -148.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1671.328790129535,
+            -150.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1668.7307139181817,
+            -151.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1666.1326377068283,
+            -153.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1663.534561495475,
+            -154.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1660.9364852841215,
+            -156.4845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1658.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1658.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1655.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1652.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1649.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1646.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1643.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1640.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1637.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1634.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1631.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1628.3384090727682,
+            -157.9845246133724,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1600.0,
+            -168.0,
+            -26.6135
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-29-42_837626799/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-29-42_837626799/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d10e05bc57a4775db58d600fb34568f17a3a121
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-29-42_837626799/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1355.3000363390931,
+            198.38399730621492,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1356.8000363390931,
+            200.98207351756824,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1358.3000363390931,
+            203.58014972892155,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1359.8000363390931,
+            206.17822594027487,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1361.3000363390931,
+            208.7763021516282,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1362.8000363390931,
+            211.3743783629815,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1364.3000363390931,
+            213.97245457433482,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1365.8000363390931,
+            216.57053078568813,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1367.3000363390931,
+            219.16860699704145,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1368.8000363390931,
+            221.76668320839477,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1370.3000363390931,
+            224.36475941974808,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1371.8000363390931,
+            226.9628356311014,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1373.3000363390931,
+            229.56091184245471,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1374.8000363390931,
+            232.15898805380803,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1376.3000363390931,
+            234.75706426516135,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1377.8000363390931,
+            237.35514047651466,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1379.3000363390931,
+            239.95321668786798,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1380.8000363390931,
+            242.5512928992213,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1382.3000363390931,
+            245.1493691105746,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1383.8000363390931,
+            247.74744532192793,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1385.3000363390931,
+            250.34552153328124,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1386.8000363390931,
+            252.94359774463456,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1388.3000363390931,
+            255.54167395598787,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1389.8000363390931,
+            258.13975016734116,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            284.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-32-4_1390598089/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-32-4_1390598089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfbb3897858c9163ee4ccd3999bd4631d3b1696b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-32-4_1390598089/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1369.7589786208705,
+            631.6312736725727,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1372.7589786208705,
+            631.6312736725727,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1375.7589786208705,
+            631.6312736725727,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1375.7589786208705,
+            631.6312736725727,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1375.7589786208705,
+            631.6312736725727,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1377.2589786208705,
+            634.229349883926,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1378.7589786208705,
+            636.8274260952794,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1380.2589786208705,
+            639.4255023066328,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1428.0,
+            664.0,
+            215.281
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-47-9_1198720172/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-47-9_1198720172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c25ccd95412125a8fab49e9e1ab9bd412b73a6e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-47-9_1198720172/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            268.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            271.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            274.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            277.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            280.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            283.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            286.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            289.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            292.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            295.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            298.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            301.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            304.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            307.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            310.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            313.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            316.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            319.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            322.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            325.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            325.88318858883883,
+            142.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            328.48126480019215,
+            143.87219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            331.07934101154547,
+            145.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            333.6774172228988,
+            146.87219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            336.2754934342521,
+            148.37219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            338.8735696456054,
+            149.87219900987955,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            338.8735696456054,
+            149.87219900987955,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            340.3735696456054,
+            152.47027522123287,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            341.8735696456054,
+            155.06835143258618,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            343.3735696456054,
+            157.6664276439395,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            164.0,
+            16.579
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-59-59_888482339/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-59-59_888482339/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..49fdd9ae6b08d1a461e58be732f39a0864d73474
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-59-59_888482339/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -171.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -168.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -165.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -162.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -159.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -156.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -153.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -150.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -147.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -144.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -141.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -138.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -135.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -132.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -129.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -126.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -126.93542712103527,
+            -279.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -124.33735090968196,
+            -277.87622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -121.73927469832864,
+            -276.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -119.14119848697533,
+            -274.87622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -116.54312227562201,
+            -273.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -113.9450460642687,
+            -271.87622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -111.34696985291538,
+            -270.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -111.34696985291538,
+            -270.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -108.34696985291538,
+            -270.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -105.34696985291538,
+            -270.37622538796165,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -84.0,
+            -268.0,
+            -1.1313
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-9-37_896925393/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-9-37_896925393/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07efbb38fc360094a92edf447bf63b47e94238db
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_0-9-37_896925393/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1580.2574096953808,
+            844.8711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1577.6593334840275,
+            843.3711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1575.061257272674,
+            841.8711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1572.4631810613207,
+            840.3711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1569.8651048499673,
+            838.8711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1567.267028638614,
+            837.3711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1564.6689524272606,
+            835.8711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1562.0708762159072,
+            834.3711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1559.4728000045538,
+            832.8711476006747,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1556.8747237932005,
+            831.3711476006747,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1512.0,
+            808.0,
+            -15.72
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-17-15_1242754098/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-17-15_1242754098/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9b15d62f99b00a091a93c3a56cb5134055d0506e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-17-15_1242754098/pose.jsonl
@@ -0,0 +1,132 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1865.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1868.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1871.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1874.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1877.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1877.158089367359,
+            794.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1879.7561655787124,
+            796.4989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1882.3542417900658,
+            797.9989633235341,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1884.9523180014191,
+            799.4989633235341,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            812.0,
+            160.906
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-25-9_816976784/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-25-9_816976784/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55d457ba44452cd8341225bfce74fd7bcbb30eb0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-25-9_816976784/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1584.6093737039114,
+            -128.59470926516116,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1586.1093737039114,
+            -125.99663305380784,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1587.6093737039114,
+            -123.39855684245452,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1589.1093737039114,
+            -120.80048063110121,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1590.6093737039114,
+            -118.2024044197479,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1592.1093737039114,
+            -115.60432820839458,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1593.6093737039114,
+            -113.00625199704126,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1595.1093737039114,
+            -110.40817578568794,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1596.6093737039114,
+            -107.81009957433463,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1598.1093737039114,
+            -105.21202336298131,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1599.6093737039114,
+            -102.613947151628,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1599.6093737039114,
+            -102.613947151628,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1599.6093737039114,
+            -99.613947151628,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1599.6093737039114,
+            -96.613947151628,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1599.6093737039114,
+            -93.613947151628,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            -68.0,
+            34.3503
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-13_1343457914/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-13_1343457914/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afdd7ff5d253cb31ddff1e4033953c922d45f8ff
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-29-13_1343457914/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            340.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            343.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            346.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            349.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            352.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            352.86577704012205,
+            642.951854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            355.46385325147537,
+            641.451854113962,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            358.0619294628287,
+            639.951854113962,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            400.0,
+            624.0,
+            -28.0051
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-31-41_1498387409/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-31-41_1498387409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..289370114042952cde8f1dc280c5f53d21b1e0dc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-31-41_1498387409/pose.jsonl
@@ -0,0 +1,67 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1337.149693033121,
+            -26.72624982612099,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1335.649693033121,
+            -24.128173614767675,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1334.149693033121,
+            -21.53009740341436,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1332.649693033121,
+            -18.932021192061043,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1292.0,
+            28.0,
+            0.65896
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-35-52_989230775/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-35-52_989230775/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98df2301c1d155381839aeaf72c8761c9224b691
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-35-52_989230775/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1141.1484877477483,
+            767.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1143.7465639591016,
+            769.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1146.344640170455,
+            770.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1148.9427163818084,
+            772.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1151.5407925931618,
+            773.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1154.1388688045151,
+            775.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1156.7369450158685,
+            776.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1159.335021227222,
+            778.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1161.9330974385753,
+            779.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1164.5311736499286,
+            781.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1167.129249861282,
+            782.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1169.7273260726354,
+            784.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1172.3254022839888,
+            785.5964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1174.9234784953421,
+            787.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1174.9234784953421,
+            787.0964200677485,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1176.4234784953421,
+            789.6944962791017,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1177.9234784953421,
+            792.2925724904551,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1179.4234784953421,
+            794.8906487018085,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1180.9234784953421,
+            797.4887249131618,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1182.4234784953421,
+            800.0868011245152,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1183.9234784953421,
+            802.6848773358686,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1183.9234784953421,
+            802.6848773358686,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1186.5215547066955,
+            804.1848773358686,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1189.1196309180489,
+            805.6848773358686,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            820.0,
+            17.114
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-36-7_1802491982/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-36-7_1802491982/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..502a24bde2c0011bb685dd27141767e0d2343835
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-36-7_1802491982/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            889.9131143557927,
+            1043.3324600837348,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            892.9131143557927,
+            1043.3324600837348,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            895.9131143557927,
+            1043.3324600837348,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            895.9131143557927,
+            1043.3324600837348,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            895.9131143557927,
+            1043.3324600837348,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            897.4131143557927,
+            1040.7343838723814,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            898.9131143557927,
+            1038.136307661028,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            900.4131143557927,
+            1035.5382314496746,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            901.9131143557927,
+            1032.9401552383213,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            903.4131143557927,
+            1030.342079026968,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            904.9131143557927,
+            1027.7440028156145,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            906.4131143557927,
+            1025.1459266042611,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            907.9131143557927,
+            1022.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            907.9131143557927,
+            1022.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            910.5111905671461,
+            1021.0478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            913.1092667784994,
+            1019.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            915.7073429898528,
+            1018.0478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            918.3054192012062,
+            1016.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            920.9034954125596,
+            1015.0478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            923.5015716239129,
+            1013.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            926.0996478352663,
+            1012.0478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            928.6977240466197,
+            1010.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            931.295800257973,
+            1009.0478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            933.8938764693264,
+            1007.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            933.8938764693264,
+            1007.5478503929078,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            935.3938764693264,
+            1004.9497741815544,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            988.0,
+            1.64774
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-38-27_1578716908/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-38-27_1578716908/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e77f712c2a0ab3fa0d7a45b4822d36366b9bab4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-38-27_1578716908/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1.247311522758558,
+            -131.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1.2473115227585583,
+            -134.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1.2473115227585585,
+            -137.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1.2473115227585587,
+            -140.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1.247311522758559,
+            -143.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1.2473115227585592,
+            -146.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1.2473115227585594,
+            -149.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1.2473115227585596,
+            -152.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1.2473115227585598,
+            -155.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1.24731152275856,
+            -158.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1.2473115227585603,
+            -161.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1.2473115227585605,
+            -164.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1.2473115227585607,
+            -167.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1.247311522758561,
+            -170.32369156245,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1.247311522758561,
+            -170.32369156245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -0.2526884772414384,
+            -172.9217677738033,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -1.7526884772414377,
+            -175.51984398515663,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -3.252688477241437,
+            -178.11792019650994,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -4.752688477241437,
+            -180.71599640786326,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -6.252688477241436,
+            -183.31407261921657,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -7.752688477241435,
+            -185.9121488305699,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -9.252688477241435,
+            -188.5102250419232,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -10.752688477241435,
+            -191.10830125327652,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -12.252688477241435,
+            -193.70637746462984,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -13.752688477241435,
+            -196.30445367598315,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -15.252688477241435,
+            -198.90252988733647,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -16.752688477241435,
+            -201.5006060986898,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -16.752688477241435,
+            -201.5006060986898,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -16.752688477241435,
+            -204.5006060986898,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -20.0,
+            -224.0,
+            -27.925
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-6-35_1154615609/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-6-35_1154615609/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ca6e69c1e304aa12d88adfcf1864ed01e087e2a3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-6-35_1154615609/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1959.4130486010984,
+            908.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1959.4130486010984,
+            905.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1959.4130486010984,
+            902.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1959.4130486010984,
+            899.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1959.4130486010984,
+            896.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1959.4130486010984,
+            893.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1959.4130486010984,
+            890.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1959.4130486010984,
+            887.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1959.4130486010984,
+            884.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1959.4130486010984,
+            881.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1959.4130486010984,
+            878.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1959.4130486010984,
+            875.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1959.4130486010984,
+            872.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1959.4130486010984,
+            869.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1959.4130486010984,
+            866.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1959.4130486010984,
+            863.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1959.4130486010984,
+            860.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1959.4130486010984,
+            857.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1959.4130486010984,
+            854.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1959.4130486010984,
+            854.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1959.4130486010984,
+            854.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1956.814972389745,
+            852.8315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1954.2168961783916,
+            851.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1951.6188199670382,
+            849.8315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1949.0207437556849,
+            848.3315193148015,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1946.4226675443315,
+            846.8315193148015,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            812.0,
+            160.906
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-7-21_1702022939/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-7-21_1702022939/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..823ff357d360e22fcf1df53bdc57b7d8f71bf152
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_1-7-21_1702022939/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            709.7149154445506,
+            332.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            712.7149154445506,
+            332.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            715.7149154445506,
+            332.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            718.7149154445506,
+            332.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            718.7149154445506,
+            332.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            721.3129916559039,
+            331.1702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            723.9110678672573,
+            329.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            726.5091440786107,
+            328.1702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            729.1072202899641,
+            326.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            731.7052965013174,
+            325.1702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            734.3033727126708,
+            323.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            736.9014489240242,
+            322.1702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            739.4995251353776,
+            320.6702664352915,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            742.0976013467309,
+            319.1702664352915,
+            -14.030541685236908
+        ],
+        "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/medium_short/2025-1-9_2-38-0_1219377470/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-38-0_1219377470/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d10165d2b07dcae8b9bf6cafa95b871cdb6cc938
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-38-0_1219377470/pose.jsonl
@@ -0,0 +1,119 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -28.671642889127654,
+            -88.67301653100226,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -25.671642889127654,
+            -88.67301653100226,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -22.671642889127654,
+            -88.67301653100226,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -22.671642889127654,
+            -88.67301653100226,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -22.671642889127654,
+            -88.67301653100226,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -21.171642889127654,
+            -86.07494031964895,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -19.671642889127654,
+            -83.47686410829563,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -18.171642889127654,
+            -80.87878789694231,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-43-52_1215387142/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-43-52_1215387142/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e0e3df0c7cd8427c248d18529ecc80610345afd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-43-52_1215387142/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1956.2898368985432,
+            383.9177795844847,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1957.7898368985432,
+            386.51585579583804,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1959.2898368985432,
+            389.11393200719135,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1960.7898368985432,
+            391.71200821854467,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1962.2898368985432,
+            394.310084429898,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1963.7898368985432,
+            396.9081606412513,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1965.2898368985432,
+            399.5062368526046,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1966.7898368985432,
+            402.10431306395793,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1968.2898368985432,
+            404.70238927531125,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1969.7898368985432,
+            407.30046548666456,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1971.2898368985432,
+            409.8985416980179,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1972.7898368985432,
+            412.4966179093712,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1974.2898368985432,
+            415.0946941207245,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1975.7898368985432,
+            417.6927703320778,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1977.2898368985432,
+            420.29084654343114,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1978.7898368985432,
+            422.88892275478446,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1980.2898368985432,
+            425.4869989661378,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1981.7898368985432,
+            428.0850751774911,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1983.2898368985432,
+            430.6831513888444,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1984.7898368985432,
+            433.2812276001977,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1984.7898368985432,
+            433.2812276001977,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1984.7898368985432,
+            436.2812276001977,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1984.7898368985432,
+            439.2812276001977,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1984.7898368985432,
+            442.2812276001977,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1996.0,
+            468.0,
+            64.6317
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-5-13_634172025/pose.jsonl b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-5-13_634172025/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..94d5a97c317c763c01d9d9ff7bfe3257153620ab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_short/2025-1-9_2-5-13_634172025/pose.jsonl
@@ -0,0 +1,158 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1361.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1364.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1367.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1370.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1373.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1376.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1379.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1379.9991230381424,
+            467.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1382.5971992494958,
+            469.3673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1385.1952754608492,
+            470.8673179486499,
+            -14.030541685236908
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1387.7933516722026,
+            472.3673179486499,
+            -14.030541685236908
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}