diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-54-7_1540383426/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-54-7_1540383426/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8a8594e121e29e782cf960dcede73895dec52b20
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-54-7_1540383426/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            247.41688720967704,
+            569.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            250.01496342103036,
+            568.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            252.61303963238367,
+            566.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            255.211115843737,
+            565.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            257.8091920550903,
+            563.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            260.4072682664436,
+            562.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            263.00534447779694,
+            560.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            265.60342068915025,
+            559.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            268.20149690050357,
+            557.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            270.7995731118569,
+            556.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            273.3976493232102,
+            554.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            275.9957255345635,
+            553.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            278.59380174591683,
+            551.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            281.19187795727015,
+            550.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            283.78995416862347,
+            548.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            286.3880303799768,
+            547.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            288.9861065913301,
+            545.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            291.5841828026834,
+            544.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            294.18225901403673,
+            542.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            296.78033522539005,
+            541.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            299.37841143674336,
+            539.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            301.9764876480967,
+            538.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            304.57456385945,
+            536.9163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            307.1726400708033,
+            535.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            307.1726400708033,
+            535.4163520708025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            308.6726400708033,
+            532.8182758594492,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            310.1726400708033,
+            530.2201996480958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            311.6726400708033,
+            527.6221234367424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            313.1726400708033,
+            525.024047225389,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            314.6726400708033,
+            522.4259710140357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            316.1726400708033,
+            519.8278948026823,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            317.6726400708033,
+            517.2298185913289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            319.1726400708033,
+            514.6317423799755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            320.6726400708033,
+            512.0336661686222,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            322.1726400708033,
+            509.43558995726886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            323.6726400708033,
+            506.83751374591554,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            325.1726400708033,
+            504.2394375345622,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            326.6726400708033,
+            501.6413613232089,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-20-58_463480570/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-20-58_463480570/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6d7e02bf4879d10c8d45a3da46d902b7b8bba853
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-20-58_463480570/pose.jsonl
@@ -0,0 +1,717 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            363.2573543032608,
+            91.80935161617728,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            361.7573543032608,
+            89.21127540482397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            360.2573543032608,
+            86.61319919347065,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            358.7573543032608,
+            84.01512298211733,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            357.2573543032608,
+            81.41704677076402,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            355.7573543032608,
+            78.8189705594107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            354.2573543032608,
+            76.22089434805739,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            352.7573543032608,
+            73.62281813670407,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            351.2573543032608,
+            71.02474192535075,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            349.7573543032608,
+            68.42666571399744,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            348.2573543032608,
+            65.82858950264412,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            346.7573543032608,
+            63.230513291290805,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            345.2573543032608,
+            60.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            345.2573543032608,
+            60.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            345.2573543032608,
+            57.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            345.2573543032608,
+            54.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            345.2573543032608,
+            51.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            345.2573543032608,
+            48.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            345.2573543032608,
+            45.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            345.2573543032608,
+            42.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            345.2573543032608,
+            42.63243707993749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            343.7573543032608,
+            40.03436086858417,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            342.2573543032608,
+            37.43628465723086,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            340.7573543032608,
+            34.83820844587754,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            339.2573543032608,
+            32.240132234524225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            337.7573543032608,
+            29.64205602317091,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            336.2573543032608,
+            27.043979811817593,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            334.7573543032608,
+            24.445903600464277,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            333.2573543032608,
+            21.84782738911096,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            331.7573543032608,
+            19.249751177757645,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            330.2573543032608,
+            16.65167496640433,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            328.7573543032608,
+            14.053598755051013,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            328.7573543032608,
+            14.053598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            326.1592780919075,
+            12.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            323.56120188055417,
+            11.053598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            320.96312566920085,
+            9.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            318.36504945784753,
+            8.053598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            315.7669732464942,
+            6.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            313.1688970351409,
+            5.053598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            310.5708208237876,
+            3.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            310.5708208237876,
+            3.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            310.5708208237876,
+            3.553598755051013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948968
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            310.5708208237876,
+            0.5535987550510129,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            310.5708208237876,
+            -2.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            310.5708208237876,
+            -5.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            310.5708208237876,
+            -8.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            310.5708208237876,
+            -11.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            310.5708208237876,
+            -14.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            310.5708208237876,
+            -17.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            310.5708208237876,
+            -20.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            310.5708208237876,
+            -20.446401244948987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            309.0708208237876,
+            -23.044477456302303,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            307.5708208237876,
+            -25.64255366765562,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            306.0708208237876,
+            -28.240629879008935,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            300.0,
+            -44.0,
+            1.41541
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-22-51_1376710097/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-22-51_1376710097/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9da701a679d059556407912c8a674ee463f619c3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-22-51_1376710097/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            769.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            772.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            775.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            778.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            781.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            784.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            787.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            790.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            793.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            796.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            799.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            802.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            805.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            808.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            811.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            811.2588618921155,
+            361.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            813.8569381034688,
+            362.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            816.4550143148222,
+            364.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            819.0530905261755,
+            365.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            821.6511667375289,
+            367.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            824.2492429488823,
+            368.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            826.8473191602357,
+            370.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            829.445395371589,
+            371.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            832.0434715829424,
+            373.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            834.6415477942958,
+            374.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            837.2396240056491,
+            376.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            839.8377002170025,
+            377.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            842.4357764283559,
+            379.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            845.0338526397093,
+            380.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            847.6319288510626,
+            382.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            850.230005062416,
+            383.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            852.8280812737694,
+            385.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            855.4261574851228,
+            386.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            858.0242336964761,
+            388.1063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            860.6223099078295,
+            389.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            860.6223099078295,
+            389.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            863.6223099078295,
+            389.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            866.6223099078295,
+            389.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            869.6223099078295,
+            389.6063407543977,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            888.0,
+            396.0,
+            1.13886
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-40-17_1231192379/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-40-17_1231192379/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..06bc74404edea596e920a94738c7ac7262078ca6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-40-17_1231192379/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1497.267653317995,
+            202.81477912935975,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1495.767653317995,
+            205.41285534071307,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1494.267653317995,
+            208.01093155206638,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1492.767653317995,
+            210.6090077634197,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1491.267653317995,
+            213.207083974773,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1489.767653317995,
+            215.80516018612633,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1488.267653317995,
+            218.40323639747965,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1486.767653317995,
+            221.00131260883296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1485.267653317995,
+            223.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1485.267653317995,
+            223.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1485.267653317995,
+            226.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1485.267653317995,
+            229.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1485.267653317995,
+            232.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1485.267653317995,
+            235.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1485.267653317995,
+            238.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1485.267653317995,
+            241.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1485.267653317995,
+            244.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1485.267653317995,
+            247.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1485.267653317995,
+            250.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1485.267653317995,
+            253.59938882018628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1485.267653317995,
+            256.5993888201863,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1485.267653317995,
+            259.5993888201863,
+            -8.37259322125965
+        ],
+        "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_average/2025-1-8_18-50-11_1350573793/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-50-11_1350573793/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..062fa1cbb9a173e2b4348fd7ef99ba5dceb9403e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-50-11_1350573793/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1526.6380570787442,
+            -170.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1526.6380570787442,
+            -167.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1526.6380570787442,
+            -164.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1526.6380570787442,
+            -161.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1526.6380570787442,
+            -158.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1526.6380570787442,
+            -155.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1526.6380570787442,
+            -152.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1526.6380570787442,
+            -149.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1526.6380570787442,
+            -146.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1526.6380570787442,
+            -143.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1526.6380570787442,
+            -140.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1526.6380570787442,
+            -137.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1526.6380570787442,
+            -134.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1526.6380570787442,
+            -131.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1526.6380570787442,
+            -128.5835451944419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1526.6380570787442,
+            -125.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1526.6380570787442,
+            -122.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1526.6380570787442,
+            -122.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1526.6380570787442,
+            -122.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1529.2361332900975,
+            -121.08354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1531.834209501451,
+            -119.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1534.4322857128043,
+            -118.08354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1537.0303619241577,
+            -116.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1539.628438135511,
+            -115.08354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1542.2265143468644,
+            -113.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1544.8245905582178,
+            -112.08354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1547.4226667695712,
+            -110.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1547.4226667695712,
+            -110.58354519444191,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1548.9226667695712,
+            -107.9854689830886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1550.4226667695712,
+            -105.38739277173528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1551.9226667695712,
+            -102.78931656038196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1553.4226667695712,
+            -100.19124034902865,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1554.9226667695712,
+            -97.59316413767533,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1556.4226667695712,
+            -94.99508792632201,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1557.9226667695712,
+            -92.3970117149687,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1568.0,
+            -68.0,
+            1.05541
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-52-33_2103318776/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-52-33_2103318776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0cd201e491bd36da75dbfcfb7c9116036cff93d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-52-33_2103318776/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1723.0850697727171,
+            196.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1720.4869935613638,
+            194.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1717.8889173500104,
+            193.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1715.290841138657,
+            191.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1712.6927649273036,
+            190.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1710.0946887159503,
+            188.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1707.496612504597,
+            187.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1704.8985362932435,
+            185.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1702.3004600818902,
+            184.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1699.7023838705368,
+            182.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1697.1043076591834,
+            181.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1694.50623144783,
+            179.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1691.9081552364767,
+            178.13983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1689.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1689.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1686.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1683.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1680.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1677.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1674.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1671.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1668.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1665.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1662.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1659.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1656.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1653.3100790251233,
+            176.63983948487424,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1612.0,
+            164.0,
+            123.13
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-9-1_1827336327/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-9-1_1827336327/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be5e42696443bea256e4c633bd6eecb37aae6c1d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-9-1_1827336327/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1885.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1888.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1891.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1894.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1897.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1900.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1903.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1906.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1909.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1912.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1915.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1918.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1921.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1924.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1924.7351028011824,
+            302.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1927.3331790125358,
+            303.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1929.9312552238891,
+            305.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1932.5293314352425,
+            306.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1935.1274076465959,
+            308.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1937.7254838579493,
+            309.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1940.3235600693026,
+            311.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1942.921636280656,
+            312.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1945.5197124920094,
+            314.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1948.1177887033627,
+            315.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1950.7158649147161,
+            317.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1953.3139411260695,
+            318.6008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1955.9120173374229,
+            320.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1955.9120173374229,
+            320.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1958.9120173374229,
+            320.1008220770207,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-29-14_1295166342/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-29-14_1295166342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6491e3b267fb0123b5a2285a949ad33b0f050b17
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-29-14_1295166342/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            13.912447245094967,
+            -483.22853286727536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            15.412447245094967,
+            -480.63045665592205,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            16.912447245094967,
+            -478.03238044456873,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            18.412447245094967,
+            -475.4343042332154,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            19.912447245094967,
+            -472.8362280218621,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            21.412447245094967,
+            -470.2381518105088,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            22.912447245094967,
+            -467.64007559915547,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            24.412447245094967,
+            -465.04199938780215,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            25.912447245094967,
+            -462.44392317644883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            27.412447245094967,
+            -459.8458469650955,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            28.912447245094967,
+            -457.2477707537422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            30.412447245094967,
+            -454.6496945423889,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            31.912447245094967,
+            -452.05161833103557,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            33.41244724509497,
+            -449.45354211968225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            34.91244724509497,
+            -446.85546590832894,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            36.41244724509497,
+            -444.2573896969756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            37.91244724509497,
+            -441.6593134856223,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            39.41244724509497,
+            -439.061237274269,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            40.91244724509497,
+            -436.4631610629157,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            42.41244724509497,
+            -433.86508485156236,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            43.91244724509497,
+            -431.26700864020904,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            45.41244724509497,
+            -428.6689324288557,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            46.91244724509497,
+            -426.0708562175024,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            48.41244724509497,
+            -423.4727800061491,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            49.91244724509497,
+            -420.8747037947958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            51.41244724509497,
+            -418.27662758344246,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            51.41244724509497,
+            -418.27662758344246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            54.01052345644828,
+            -416.77662758344246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            56.6085996678016,
+            -415.27662758344246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            59.206675879154915,
+            -413.77662758344246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            61.80475209050823,
+            -412.27662758344246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            64.40282830186155,
+            -410.77662758344246,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            80.0,
+            -384.0,
+            0.299492
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-45-24_1927495994/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-45-24_1927495994/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dfb766818396973a621238b0c7b913912c2ca91d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-45-24_1927495994/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1361.6426987534862,
+            505.9124416745407,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1363.1426987534862,
+            503.31436546318736,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1364.6426987534862,
+            500.71628925183404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1366.1426987534862,
+            498.1182130404807,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1367.6426987534862,
+            495.5201368291274,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1369.1426987534862,
+            492.9220606177741,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1370.6426987534862,
+            490.3239844064208,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1372.1426987534862,
+            487.72590819506746,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1373.6426987534862,
+            485.12783198371415,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1375.1426987534862,
+            482.52975577236083,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1376.6426987534862,
+            479.9316795610075,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1378.1426987534862,
+            477.3336033496542,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1379.6426987534862,
+            474.7355271383009,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1381.1426987534862,
+            472.13745092694757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1382.6426987534862,
+            469.53937471559425,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1384.1426987534862,
+            466.94129850424093,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1385.6426987534862,
+            464.3432222928876,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1387.1426987534862,
+            461.7451460815343,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1388.6426987534862,
+            459.147069870181,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1390.1426987534862,
+            456.54899365882767,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1391.6426987534862,
+            453.95091744747435,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1393.1426987534862,
+            451.35284123612104,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1394.6426987534862,
+            448.7547650247677,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1396.1426987534862,
+            446.1566888134144,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1397.6426987534862,
+            443.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1397.6426987534862,
+            443.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1397.6426987534862,
+            440.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1397.6426987534862,
+            437.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1397.6426987534862,
+            434.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1397.6426987534862,
+            431.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1397.6426987534862,
+            428.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1397.6426987534862,
+            425.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1397.6426987534862,
+            422.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1397.6426987534862,
+            419.5586126020611,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1404.0,
+            400.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-9-8_745425661/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-9-8_745425661/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..68ffb2586d51369afa573a836cc2e5bfe7bed07a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-9-8_745425661/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            164.4495571269009,
+            58.58915116957397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            167.04763333825423,
+            60.08915116957397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            169.64570954960755,
+            61.58915116957397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            172.24378576096086,
+            63.08915116957397,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            172.24378576096086,
+            63.08915116957397,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            173.74378576096086,
+            65.68722738092728,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            175.24378576096086,
+            68.2853035922806,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            176.74378576096086,
+            70.88337980363391,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            178.24378576096086,
+            73.48145601498723,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            179.74378576096086,
+            76.07953222634055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            181.24378576096086,
+            78.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            181.24378576096086,
+            78.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            181.24378576096086,
+            81.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            181.24378576096086,
+            84.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            181.24378576096086,
+            87.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            181.24378576096086,
+            90.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            181.24378576096086,
+            93.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            181.24378576096086,
+            96.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            181.24378576096086,
+            99.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            181.24378576096086,
+            102.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            181.24378576096086,
+            105.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            181.24378576096086,
+            108.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            181.24378576096086,
+            111.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            181.24378576096086,
+            114.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            181.24378576096086,
+            117.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            181.24378576096086,
+            120.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            181.24378576096086,
+            123.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            181.24378576096086,
+            126.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            181.24378576096086,
+            129.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            181.24378576096086,
+            132.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            181.24378576096086,
+            135.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            181.24378576096086,
+            138.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            181.24378576096086,
+            141.67760843769386,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            188.0,
+            168.0,
+            23.6083
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-14-4_606199759/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-14-4_606199759/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e15af3a6a9ba9aef89c2637c7960430f43e9322
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-14-4_606199759/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1781.2023916027972,
+            946.5731242437416,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1782.7023916027972,
+            943.9750480323883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1784.2023916027972,
+            941.3769718210349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1785.7023916027972,
+            938.7788956096815,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1787.2023916027972,
+            936.1808193983281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1788.7023916027972,
+            933.5827431869748,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1790.2023916027972,
+            930.9846669756214,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1791.7023916027972,
+            928.386590764268,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1793.2023916027972,
+            925.7885145529146,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1794.7023916027972,
+            923.1904383415613,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1796.2023916027972,
+            920.5923621302079,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1797.7023916027972,
+            917.9942859188545,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1799.2023916027972,
+            915.3962097075012,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1800.7023916027972,
+            912.7981334961478,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1802.2023916027972,
+            910.2000572847944,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1803.7023916027972,
+            907.601981073441,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1805.2023916027972,
+            905.0039048620877,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1806.7023916027972,
+            902.4058286507343,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1808.2023916027972,
+            899.8077524393809,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1809.7023916027972,
+            897.2096762280275,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1811.2023916027972,
+            894.6116000166742,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1812.7023916027972,
+            892.0135238053208,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1814.2023916027972,
+            889.4154475939674,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1815.7023916027972,
+            886.817371382614,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1817.2023916027972,
+            884.2192951712607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1818.7023916027972,
+            881.6212189599073,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1820.2023916027972,
+            879.0231427485539,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1821.7023916027972,
+            876.4250665372006,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1823.2023916027972,
+            873.8269903258472,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1824.7023916027972,
+            871.2289141144938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1826.2023916027972,
+            868.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1826.2023916027972,
+            868.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1828.8004678141506,
+            867.1308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1831.398544025504,
+            865.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1833.9966202368573,
+            864.1308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1836.5946964482107,
+            862.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1839.192772659564,
+            861.1308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1841.7908488709174,
+            859.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1844.3889250822708,
+            858.1308379031404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1846.9870012936242,
+            856.6308379031404,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1856.0,
+            840.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-19_345367818/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-19_345367818/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1785b0cf67b4fd89bd67dcb0243014a13dc00ebc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-19_345367818/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1181.2366286371462,
+            362.3562265758436,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1182.7366286371462,
+            364.9543027871969,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1184.2366286371462,
+            367.55237899855024,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1185.7366286371462,
+            370.15045520990355,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1187.2366286371462,
+            372.74853142125687,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1188.7366286371462,
+            375.3466076326102,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1190.2366286371462,
+            377.9446838439635,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1191.7366286371462,
+            380.5427600553168,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1193.2366286371462,
+            383.14083626667014,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1194.7366286371462,
+            385.73891247802345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1196.2366286371462,
+            388.33698868937677,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1197.7366286371462,
+            390.9350649007301,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1199.2366286371462,
+            393.5331411120834,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1200.7366286371462,
+            396.1312173234367,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1202.2366286371462,
+            398.72929353479003,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1203.7366286371462,
+            401.32736974614335,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-56_991810563/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-56_991810563/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..efb7a197ac09d564162a95dc629f5ddda80998a7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-19-56_991810563/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            576.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            579.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            582.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            585.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            588.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            591.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            594.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            597.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            600.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            603.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            606.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            609.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            612.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            615.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            618.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            621.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            624.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            627.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            630.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            633.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            636.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            639.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            642.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            645.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            648.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            648.1028166108871,
+            -90.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            650.7008928222403,
+            -88.71159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            653.2989690335937,
+            -87.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            655.8970452449471,
+            -85.71159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            658.4951214563005,
+            -84.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            661.0931976676538,
+            -82.71159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            663.6912738790072,
+            -81.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            666.2893500903606,
+            -79.71159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            668.887426301714,
+            -78.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            671.4855025130673,
+            -76.71159490853137,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            674.0835787244207,
+            -75.21159490853137,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            708.0,
+            -68.0,
+            2.61985
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-25-46_765326717/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-25-46_765326717/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..214696a90ca41d192cef7f046670b2bec0c826fa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-25-46_765326717/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1887.8931673554146,
+            737.6858225187767,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1890.8931673554146,
+            737.6858225187767,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1893.8931673554146,
+            737.6858225187767,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1893.8931673554146,
+            737.6858225187767,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1893.8931673554146,
+            737.6858225187767,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1895.3931673554146,
+            735.0877463074235,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1896.8931673554146,
+            732.4896700960701,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1898.3931673554146,
+            729.8915938847167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1899.8931673554146,
+            727.2935176733633,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1901.3931673554146,
+            724.69544146201,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1902.8931673554146,
+            722.0973652506566,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1904.3931673554146,
+            719.4992890393032,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1905.8931673554146,
+            716.9012128279498,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1907.3931673554146,
+            714.3031366165965,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1908.8931673554146,
+            711.7050604052431,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1910.3931673554146,
+            709.1069841938897,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1911.8931673554146,
+            706.5089079825364,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1913.3931673554146,
+            703.910831771183,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1914.8931673554146,
+            701.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1914.8931673554146,
+            701.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1917.491243566768,
+            699.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1920.0893197781213,
+            698.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1922.6873959894747,
+            696.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1925.285472200828,
+            695.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1927.8835484121814,
+            693.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1930.4816246235348,
+            692.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1933.0797008348882,
+            690.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1935.6777770462415,
+            689.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1938.275853257595,
+            687.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1940.8739294689483,
+            686.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1943.4720056803017,
+            684.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1946.070081891655,
+            683.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1948.6681581030084,
+            681.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1951.2662343143618,
+            680.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1953.8643105257152,
+            678.8127555598296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1956.4623867370685,
+            677.3127555598296,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1976.0,
+            660.0,
+            105.319
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-30-51_1464415775/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-30-51_1464415775/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7e2a53440221ce0478fde40e7ae6508074f8c12
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-30-51_1464415775/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1093.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1096.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1099.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1102.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1105.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1108.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1111.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1114.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1117.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1120.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1123.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1126.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1129.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1132.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1135.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1138.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1141.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1144.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1147.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1150.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1150.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1150.5645321669099,
+            854.4977950114122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1152.0645321669099,
+            857.0958712227655,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1153.5645321669099,
+            859.6939474341189,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1155.0645321669099,
+            862.2920236454722,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1156.5645321669099,
+            864.8900998568256,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1156.5645321669099,
+            864.8900998568256,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1159.1626083782633,
+            866.3900998568256,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            876.0,
+            1.28005
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-41-31_1155722604/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-41-31_1155722604/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..62dbcf4bd6912b81a46cf4ae6ac34f7487c342cf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-41-31_1155722604/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            320.4354323614693,
+            166.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            320.4354323614693,
+            169.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            320.4354323614693,
+            172.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            320.4354323614693,
+            175.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            320.4354323614693,
+            178.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            320.4354323614693,
+            181.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            320.4354323614693,
+            184.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            320.4354323614693,
+            187.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            320.4354323614693,
+            190.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            320.4354323614693,
+            193.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            320.4354323614693,
+            196.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            320.4354323614693,
+            199.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            320.4354323614693,
+            202.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            320.4354323614693,
+            205.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            320.4354323614693,
+            208.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            320.4354323614693,
+            211.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            320.4354323614693,
+            214.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            320.4354323614693,
+            217.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            320.4354323614693,
+            220.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            320.4354323614693,
+            223.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            320.4354323614693,
+            226.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            320.4354323614693,
+            229.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            320.4354323614693,
+            232.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            320.4354323614693,
+            235.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            320.4354323614693,
+            238.66212386195616,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            276.0,
+            64.2459
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-50-18_550245196/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-50-18_550245196/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5d6d63a3b0f3eb7eab984ec0f9d1c104a8cd9a8f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-50-18_550245196/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1591.518801403601,
+            575.3149133546904,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1590.018801403601,
+            572.716837143337,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1588.518801403601,
+            570.1187609319836,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1587.018801403601,
+            567.5206847206302,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1585.518801403601,
+            564.9226085092769,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1584.018801403601,
+            562.3245322979235,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1582.518801403601,
+            559.7264560865701,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1581.018801403601,
+            557.1283798752168,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1579.518801403601,
+            554.5303036638634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1578.018801403601,
+            551.93222745251,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1576.518801403601,
+            549.3341512411566,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1575.018801403601,
+            546.7360750298033,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1573.518801403601,
+            544.1379988184499,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1572.018801403601,
+            541.5399226070965,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1570.518801403601,
+            538.9418463957431,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1569.018801403601,
+            536.3437701843898,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1567.518801403601,
+            533.7456939730364,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1566.018801403601,
+            531.147617761683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1564.518801403601,
+            528.5495415503296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1563.018801403601,
+            525.9514653389763,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1561.518801403601,
+            523.3533891276229,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1560.018801403601,
+            520.7553129162695,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1558.518801403601,
+            518.1572367049162,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1557.018801403601,
+            515.5591604935628,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1557.018801403601,
+            515.5591604935628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1554.4207251922476,
+            514.0591604935628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1551.8226489808942,
+            512.5591604935628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1549.2245727695408,
+            511.0591604935628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1546.6264965581875,
+            509.5591604935628,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1512.0,
+            460.0,
+            122.069
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-25-45_1979015720/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-25-45_1979015720/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3bf0807e7e40e87f45f99d65ce2e2b86f2d1c5bc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-25-45_1979015720/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            439.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            442.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            445.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            448.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            451.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            454.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            457.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            460.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            463.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            466.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            469.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            472.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            475.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            478.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            481.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            484.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            487.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            490.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            493.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            496.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            499.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            502.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            505.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            508.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            511.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            514.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            514.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            514.8294390553481,
+            -192.3563258397963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            516.3294390553481,
+            -194.95440205114963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            517.8294390553481,
+            -197.55247826250294,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            519.3294390553481,
+            -200.15055447385626,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            520.8294390553481,
+            -202.74863068520958,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            522.3294390553481,
+            -205.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            522.3294390553481,
+            -205.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            524.9275152667014,
+            -206.8467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            527.5255914780548,
+            -208.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            530.1236676894082,
+            -209.8467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            532.7217439007616,
+            -211.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            535.3198201121149,
+            -212.8467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            537.9178963234683,
+            -214.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            540.5159725348217,
+            -215.8467068965629,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            543.1140487461751,
+            -217.3467068965629,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            564.0,
+            -220.0,
+            16.8381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-36-28_1907895021/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-36-28_1907895021/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9729f94ded18aedde2b95f25a88f40e6d4fc1e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-36-28_1907895021/pose.jsonl
@@ -0,0 +1,145 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1565.952101453619,
+            841.4183912149944,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1564.452101453619,
+            838.8203150036411,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1562.952101453619,
+            836.2222387922877,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1561.452101453619,
+            833.6241625809344,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1559.952101453619,
+            831.026086369581,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1558.452101453619,
+            828.4280101582276,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1556.952101453619,
+            825.8299339468742,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1555.452101453619,
+            823.2318577355209,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1555.452101453619,
+            823.2318577355209,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1555.452101453619,
+            820.2318577355209,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1504.0,
+            728.0,
+            1.05537
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-0_2013725218/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-0_2013725218/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea2c7e25ef2c2b6c20f573e3ef7e061dbd489987
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-7-0_2013725218/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1967.7037338285602,
+            209.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1967.7037338285602,
+            212.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1967.7037338285602,
+            215.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1967.7037338285602,
+            218.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1967.7037338285602,
+            221.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1967.7037338285602,
+            224.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1967.7037338285602,
+            227.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1967.7037338285602,
+            230.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1967.7037338285602,
+            233.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1967.7037338285602,
+            236.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1967.7037338285602,
+            239.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1967.7037338285602,
+            242.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1967.7037338285602,
+            245.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1967.7037338285602,
+            245.28708974085055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1969.2037338285602,
+            247.88516595220386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1970.7037338285602,
+            250.48324216355718,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1972.2037338285602,
+            253.0813183749105,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1973.7037338285602,
+            255.6793945862638,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1975.2037338285602,
+            258.2774707976171,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1976.7037338285602,
+            260.87554700897044,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1978.2037338285602,
+            263.47362322032376,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-42_942724790/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-42_942724790/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8e0175655c1cfd8fdaad9d4fa5708583bb53434
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-42_942724790/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            432.2334742899407,
+            83.29393628762051,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            430.7334742899407,
+            85.89201249897383,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            429.2334742899407,
+            88.49008871032714,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            427.7334742899407,
+            91.08816492168046,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            426.2334742899407,
+            93.68624113303377,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            424.7334742899407,
+            96.28431734438709,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            423.2334742899407,
+            98.8823935557404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            421.7334742899407,
+            101.48046976709372,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            420.2334742899407,
+            104.07854597844704,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            418.7334742899407,
+            106.67662218980036,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            417.2334742899407,
+            109.27469840115367,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            415.7334742899407,
+            111.87277461250699,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            414.2334742899407,
+            114.4708508238603,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            412.7334742899407,
+            117.06892703521362,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            411.2334742899407,
+            119.66700324656694,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            409.7334742899407,
+            122.26507945792025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            408.2334742899407,
+            124.86315566927357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            406.7334742899407,
+            127.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            406.7334742899407,
+            127.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            404.1353980785874,
+            128.96123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            401.5373218672341,
+            130.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            398.93924565588077,
+            131.96123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            396.34116944452745,
+            133.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            393.74309323317414,
+            134.96123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            391.1450170218208,
+            136.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            388.5469408104675,
+            137.96123188062688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            385.9488645991142,
+            139.46123188062688,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            164.0,
+            16.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-29-56_221713886/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-29-56_221713886/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..91ff70d437877e6ff9a9e15e65a3627ca4f25a5f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-29-56_221713886/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1060.476639973205,
+            230.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1057.8785637618516,
+            232.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1055.2804875504983,
+            233.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1052.682411339145,
+            235.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1050.0843351277915,
+            236.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1047.4862589164381,
+            238.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1044.8881827050848,
+            239.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1042.2901064937314,
+            241.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1039.692030282378,
+            242.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1037.0939540710247,
+            244.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1034.4958778596713,
+            245.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1031.897801648318,
+            247.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1029.2997254369645,
+            248.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1026.7016492256112,
+            250.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1024.1035730142578,
+            251.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1021.5054968029044,
+            253.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1018.907420591551,
+            254.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1016.3093443801977,
+            256.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1013.7112681688443,
+            257.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1011.1131919574909,
+            259.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1008.5151157461376,
+            260.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1005.9170395347842,
+            262.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1003.3189633234308,
+            263.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1000.7208871120774,
+            265.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            998.1228109007241,
+            266.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            995.5247346893707,
+            268.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            992.9266584780173,
+            269.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            990.328582266664,
+            271.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            987.7305060553106,
+            272.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            985.1324298439572,
+            274.00314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            982.5343536326038,
+            275.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            982.5343536326038,
+            275.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            979.5343536326038,
+            275.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            976.5343536326038,
+            275.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            973.5343536326038,
+            275.50314783608434,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            944.0,
+            292.0,
+            1.52855
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-32-9_2079611790/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-32-9_2079611790/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c25c9c23be1709122a5dbc4bdba90f13a7f52d8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-32-9_2079611790/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1661.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1658.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1655.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1652.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1649.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1646.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1643.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1640.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1637.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1634.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1631.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1628.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1625.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1622.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1619.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1616.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1613.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1610.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1607.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1604.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1601.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1598.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1595.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1592.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1592.5254200193945,
+            927.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1589.927343808041,
+            926.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1587.3292675966877,
+            924.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1584.7311913853343,
+            923.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1582.133115173981,
+            921.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1579.5350389626276,
+            920.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1576.9369627512742,
+            918.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1574.3388865399208,
+            917.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1571.7408103285675,
+            915.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1569.142734117214,
+            914.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1566.5446579058607,
+            912.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1563.9465816945074,
+            911.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1561.348505483154,
+            909.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1558.7504292718006,
+            908.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1556.1523530604472,
+            906.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1553.5542768490939,
+            905.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1550.9562006377405,
+            903.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1548.3581244263871,
+            902.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1545.7600482150337,
+            900.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1543.1619720036804,
+            899.1800302551375,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1540.563895792327,
+            897.6800302551375,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1516.0,
+            892.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-33-7_404259631/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-33-7_404259631/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e518f889724d7689520588172991b71415da6bc3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-33-7_404259631/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1911.4408669517666,
+            -25.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1914.03894316312,
+            -24.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1916.6370193744733,
+            -22.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1919.2350955858267,
+            -21.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1921.83317179718,
+            -19.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1924.4312480085334,
+            -18.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1927.0293242198868,
+            -16.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1929.6274004312402,
+            -15.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1932.2254766425935,
+            -13.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1934.823552853947,
+            -12.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1937.4216290653003,
+            -10.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1940.0197052766537,
+            -9.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1942.617781488007,
+            -7.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1945.2158576993604,
+            -6.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1947.8139339107138,
+            -4.903052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1950.4120101220672,
+            -3.403052118447107,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1953.0100863334205,
+            -1.9030521184471072,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1955.608162544774,
+            -0.4030521184471074,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1958.2062387561273,
+            1.0969478815528924,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1960.8043149674807,
+            2.596947881552892,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1963.402391178834,
+            4.096947881552892,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1966.0004673901874,
+            5.596947881552892,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1968.5985436015408,
+            7.096947881552892,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1971.1966198128941,
+            8.596947881552891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982892
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1973.7946960242475,
+            10.096947881552891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1976.392772235601,
+            11.596947881552891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1978.9908484469543,
+            13.096947881552891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1981.5889246583076,
+            14.596947881552891,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1984.187000869661,
+            16.09694788155289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982888
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1986.7850770810144,
+            17.59694788155289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1989.3831532923678,
+            19.09694788155289,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1989.3831532923678,
+            19.09694788155289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1990.8831532923678,
+            21.695024092906205,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1992.3831532923678,
+            24.29310030425952,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1993.8831532923678,
+            26.891176515612838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1995.3831532923678,
+            29.489252726966154,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1996.8831532923678,
+            32.08732893831947,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            40.0,
+            2.59066
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-39-43_1720185677/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-39-43_1720185677/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61805c985ff6152a9432c1b69d79875a7cb77ffb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-39-43_1720185677/pose.jsonl
@@ -0,0 +1,184 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            971.308017316176,
+            361.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            971.308017316176,
+            364.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            971.308017316176,
+            367.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            971.308017316176,
+            370.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            971.308017316176,
+            373.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            971.308017316176,
+            376.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            971.308017316176,
+            376.14538175497404,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            969.808017316176,
+            378.74345796632736,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            968.308017316176,
+            381.34153417768067,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            966.808017316176,
+            383.939610389034,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            965.308017316176,
+            386.5376866003873,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            963.808017316176,
+            389.1357628117406,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            962.308017316176,
+            391.73383902309394,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            948.0,
+            464.0,
+            139.324
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-28-3_837626799/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-28-3_837626799/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00393771e2cd70b85277f399f26f7254c9c8f0ff
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-28-3_837626799/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            368.05219576326317,
+            336.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            368.05219576326317,
+            339.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            368.05219576326317,
+            342.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            368.05219576326317,
+            345.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            368.05219576326317,
+            348.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            368.05219576326317,
+            351.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            368.05219576326317,
+            354.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            368.05219576326317,
+            357.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            368.05219576326317,
+            360.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            368.05219576326317,
+            363.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            368.05219576326317,
+            366.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            368.05219576326317,
+            369.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            368.05219576326317,
+            372.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            368.05219576326317,
+            375.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            368.05219576326317,
+            378.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            368.05219576326317,
+            381.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            368.05219576326317,
+            384.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            368.05219576326317,
+            387.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            368.05219576326317,
+            390.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            368.05219576326317,
+            393.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            368.05219576326317,
+            396.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            368.05219576326317,
+            399.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            368.05219576326317,
+            402.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            368.05219576326317,
+            405.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            368.05219576326317,
+            408.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            368.05219576326317,
+            411.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            368.05219576326317,
+            414.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            368.05219576326317,
+            417.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            368.05219576326317,
+            420.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            368.05219576326317,
+            420.08400873678136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            366.55219576326317,
+            422.6820849481347,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            365.05219576326317,
+            425.280161159488,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            363.55219576326317,
+            427.8782373708413,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            362.05219576326317,
+            430.4763135821946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            360.55219576326317,
+            433.07438979354794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            359.05219576326317,
+            435.67246600490125,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            357.55219576326317,
+            438.27054221625457,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            356.05219576326317,
+            440.8686184276079,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            354.55219576326317,
+            443.4666946389612,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            353.05219576326317,
+            446.0647708503145,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            351.55219576326317,
+            448.66284706166783,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            350.05219576326317,
+            451.26092327302115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            348.55219576326317,
+            453.85899948437446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            347.05219576326317,
+            456.4570756957278,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-3-4_482417719/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-3-4_482417719/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c79caebd5f53a16cfb846a7d9e98053d0441d9a6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-3-4_482417719/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1881.5831405696085,
+            470.21450258727543,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1883.0831405696085,
+            467.6164263759221,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1884.5831405696085,
+            465.0183501645688,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1886.0831405696085,
+            462.4202739532155,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1887.5831405696085,
+            459.82219774186217,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1889.0831405696085,
+            457.22412153050885,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1890.5831405696085,
+            454.62604531915554,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1892.0831405696085,
+            452.0279691078022,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1893.5831405696085,
+            449.4298928964489,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1895.0831405696085,
+            446.8318166850956,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1896.5831405696085,
+            444.2337404737423,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1898.0831405696085,
+            441.63566426238896,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1899.5831405696085,
+            439.03758805103564,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1901.0831405696085,
+            436.4395118396823,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1902.5831405696085,
+            433.841435628329,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1904.0831405696085,
+            431.2433594169757,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1905.5831405696085,
+            428.6452832056224,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1907.0831405696085,
+            426.04720699426906,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1908.5831405696085,
+            423.44913078291574,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1910.0831405696085,
+            420.85105457156243,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1911.5831405696085,
+            418.2529783602091,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1913.0831405696085,
+            415.6549021488558,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1914.5831405696085,
+            413.0568259375025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1916.0831405696085,
+            410.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1916.0831405696085,
+            410.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1916.0831405696085,
+            407.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1916.0831405696085,
+            404.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1916.0831405696085,
+            401.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1916.0831405696085,
+            398.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1916.0831405696085,
+            395.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1916.0831405696085,
+            392.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1916.0831405696085,
+            389.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1916.0831405696085,
+            386.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1916.0831405696085,
+            383.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1916.0831405696085,
+            380.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1916.0831405696085,
+            377.45874972614916,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1924.0,
+            356.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-51-30_240959156/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-51-30_240959156/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7d81776ddaeeec594d5ce32c2e2a5b57a7eefd6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-51-30_240959156/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            865.3021382492278,
+            1100.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            865.3021382492278,
+            1097.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            865.3021382492278,
+            1094.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            865.3021382492278,
+            1091.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            865.3021382492278,
+            1088.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            865.3021382492278,
+            1085.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            865.3021382492278,
+            1082.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            865.3021382492278,
+            1079.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            865.3021382492278,
+            1076.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            865.3021382492278,
+            1073.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            865.3021382492278,
+            1070.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            865.3021382492278,
+            1067.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            865.3021382492278,
+            1064.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            865.3021382492278,
+            1061.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            865.3021382492278,
+            1058.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            865.3021382492278,
+            1055.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            865.3021382492278,
+            1052.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            865.3021382492278,
+            1052.8165728693257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            863.8021382492278,
+            1050.2184966579723,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            862.3021382492278,
+            1047.620420446619,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            860.8021382492278,
+            1045.0223442352656,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            859.3021382492278,
+            1042.4242680239122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            857.8021382492278,
+            1039.8261918125588,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            856.3021382492278,
+            1037.2281156012054,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            854.8021382492278,
+            1034.630039389852,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            853.3021382492278,
+            1032.0319631784987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            851.8021382492278,
+            1029.4338869671453,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            850.3021382492278,
+            1026.835810755792,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            848.8021382492278,
+            1024.2377345444386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            847.3021382492278,
+            1021.6396583330852,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            845.8021382492278,
+            1019.0415821217318,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            844.3021382492278,
+            1016.4435059103785,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            842.8021382492278,
+            1013.8454296990251,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            841.3021382492278,
+            1011.2473534876717,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            988.0,
+            -0.816864
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-52-59_1947867422/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-52-59_1947867422/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b3c74e8ee5139e56591f7e536ebfed2105a85cb4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-52-59_1947867422/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1692.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1695.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1698.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1701.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1704.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1707.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1710.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1713.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1716.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1719.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1719.7130011072472,
+            465.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1722.3110773186006,
+            466.51204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1724.909153529954,
+            468.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1727.5072297413074,
+            469.51204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1730.1053059526607,
+            471.01204945367203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1732.703382164014,
+            472.51204945367203,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1816.0,
+            488.0,
+            -8.00904
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-53-41_1047196295/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-53-41_1047196295/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c2ca683a53822310ac1974ab9fab9ef176930d60
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-53-41_1047196295/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1631.6157896060095,
+            376.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1634.6157896060095,
+            376.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1637.6157896060095,
+            376.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1640.6157896060095,
+            376.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1640.6157896060095,
+            376.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1643.2138658173628,
+            375.3774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1645.8119420287162,
+            373.8774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1648.4100182400696,
+            372.3774916534131,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1648.4100182400696,
+            372.3774916534131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1649.9100182400696,
+            369.77941544205976,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1651.4100182400696,
+            367.18133923070644,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1652.9100182400696,
+            364.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1652.9100182400696,
+            364.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1655.508094451423,
+            363.0832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1658.1061706627763,
+            361.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1660.7042468741297,
+            360.0832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1663.302323085483,
+            358.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1665.9003992968364,
+            357.0832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1668.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1668.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1671.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1674.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1677.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1680.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1683.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1686.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1689.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1692.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1695.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1698.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1701.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1704.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1707.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1710.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1713.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1716.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1719.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1722.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1725.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1728.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1731.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1734.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1737.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1740.4984755081898,
+            355.5832630193531,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1760.0,
+            352.0,
+            -8.07619
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-12-37_707255825/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-12-37_707255825/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d7bf3716181ae51d790c53491969177712e1a69
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-12-37_707255825/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1224.2623411125953,
+            364.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1221.664264901242,
+            365.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1219.0661886898886,
+            367.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1216.4681124785352,
+            368.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1213.8700362671818,
+            370.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1211.2719600558285,
+            371.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1208.673883844475,
+            373.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1206.0758076331217,
+            374.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1203.4777314217683,
+            376.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1200.879655210415,
+            377.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1198.2815789990616,
+            379.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1195.6835027877082,
+            380.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1193.0854265763548,
+            382.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1190.4873503650015,
+            383.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1187.889274153648,
+            385.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1185.2911979422947,
+            386.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1182.6931217309414,
+            388.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1180.095045519588,
+            389.73003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1177.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1177.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1174.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1171.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1168.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1165.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1162.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1159.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1156.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1153.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1150.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1147.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1144.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1141.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1138.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1135.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1132.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1129.4969693082346,
+            391.23003498037536,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "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_average/2025-1-9_1-2-18_1582482437/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-2-18_1582482437/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54a65692fdcc99434694e3f1de03253dc06531c0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-2-18_1582482437/pose.jsonl
@@ -0,0 +1,106 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1332.7648304438678,
+            152.43713661846596,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1331.2648304438678,
+            149.83906040711264,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1329.7648304438678,
+            147.24098419575932,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1328.2648304438678,
+            144.642907984406,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1328.2648304438678,
+            144.642907984406,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1328.2648304438678,
+            141.642907984406,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1328.2648304438678,
+            138.642907984406,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "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_average/2025-1-9_1-23-0_419914800/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-0_419914800/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..451e5dc538505269c273399ae7cf8630e0e8fa04
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-0_419914800/pose.jsonl
@@ -0,0 +1,639 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            830.2240354726105,
+            347.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            827.6259592612571,
+            345.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            825.0278830499037,
+            344.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            822.4298068385503,
+            342.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            819.831730627197,
+            341.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            817.2336544158436,
+            339.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            814.6355782044902,
+            338.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            812.0375019931369,
+            336.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            809.4394257817835,
+            335.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            806.8413495704301,
+            333.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            804.2432733590767,
+            332.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            801.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            801.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            798.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            795.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            792.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            789.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            786.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            783.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            780.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            777.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            774.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            771.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            768.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            765.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            762.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            759.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            756.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            753.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            750.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            747.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            747.6451971477234,
+            330.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            745.04712093637,
+            329.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            742.4490447250166,
+            327.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            739.8509685136632,
+            326.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            737.2528923023099,
+            324.7366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            734.6548160909565,
+            323.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            734.6548160909565,
+            323.2366632277938,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            733.1548160909565,
+            320.6385870164405,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            731.6548160909565,
+            318.0405108050872,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            730.1548160909565,
+            315.4424345937339,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            728.6548160909565,
+            312.84435838238056,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            727.1548160909565,
+            310.24628217102725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            725.6548160909565,
+            307.64820595967393,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            724.1548160909565,
+            305.0501297483206,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            722.6548160909565,
+            302.4520535369673,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            721.1548160909565,
+            299.853977325614,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            719.6548160909565,
+            297.25590111426067,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            284.0,
+            -0.375038
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-25_730199492/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-25_730199492/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89f9a5933eb39f13fb8c72d968197320269fe1c3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-23-25_730199492/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            244.4569904051865,
+            345.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            247.05506661653982,
+            343.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            249.65314282789313,
+            342.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            252.25121903924645,
+            340.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            254.84929525059977,
+            339.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            257.4473714619531,
+            337.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            260.0454476733064,
+            336.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            262.6435238846597,
+            334.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            265.24160009601303,
+            333.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            267.83967630736635,
+            331.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            270.43775251871966,
+            330.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            273.035828730073,
+            328.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            275.6339049414263,
+            327.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            278.2319811527796,
+            325.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            280.8300573641329,
+            324.2765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            283.42813357548624,
+            322.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            283.42813357548624,
+            322.7765626843422,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            284.92813357548624,
+            320.1784864729889,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            286.42813357548624,
+            317.58041026163556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            287.92813357548624,
+            314.98233405028225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            289.42813357548624,
+            312.38425783892893,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            290.92813357548624,
+            309.7861816275756,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            292.42813357548624,
+            307.1881054162223,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            293.92813357548624,
+            304.590029204869,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            295.42813357548624,
+            301.99195299351567,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            296.92813357548624,
+            299.39387678216235,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            298.42813357548624,
+            296.79580057080904,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            299.92813357548624,
+            294.1977243594557,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            301.42813357548624,
+            291.5996481481024,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            320.0,
+            276.0,
+            64.2459
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-20-38_461273879/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-20-38_461273879/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f5fed54bf4f7197b8085469ca12f6c5234015ab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-20-38_461273879/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            490.3034858865506,
+            318.81781555719283,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            488.8034858865506,
+            316.2197393458395,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            487.3034858865506,
+            313.6216631344862,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            485.8034858865506,
+            311.0235869231329,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            484.3034858865506,
+            308.42551071177957,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            482.8034858865506,
+            305.82743450042625,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            481.3034858865506,
+            303.22935828907293,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            479.8034858865506,
+            300.6312820777196,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            478.3034858865506,
+            298.0332058663663,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            476.8034858865506,
+            295.435129655013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            475.3034858865506,
+            292.83705344365967,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            473.8034858865506,
+            290.23897723230635,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            472.3034858865506,
+            287.64090102095304,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            470.8034858865506,
+            285.0428248095997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            469.3034858865506,
+            282.4447485982464,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            467.8034858865506,
+            279.8466723868931,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            466.3034858865506,
+            277.2485961755398,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            464.8034858865506,
+            274.65051996418646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            463.3034858865506,
+            272.05244375283314,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            461.8034858865506,
+            269.4543675414798,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            460.3034858865506,
+            266.8562913301265,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            458.8034858865506,
+            264.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            458.8034858865506,
+            264.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            458.8034858865506,
+            261.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            458.8034858865506,
+            258.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            458.8034858865506,
+            255.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            458.8034858865506,
+            252.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            458.8034858865506,
+            249.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            458.8034858865506,
+            246.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            458.8034858865506,
+            243.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            458.8034858865506,
+            240.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            458.8034858865506,
+            237.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            458.8034858865506,
+            234.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            458.8034858865506,
+            231.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            458.8034858865506,
+            228.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            458.8034858865506,
+            225.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            458.8034858865506,
+            222.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            458.8034858865506,
+            219.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            458.8034858865506,
+            216.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            458.8034858865506,
+            213.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            458.8034858865506,
+            210.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            458.8034858865506,
+            207.2582151187732,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            448.0,
+            176.0,
+            -0.420975
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-37-55_1776088411/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-37-55_1776088411/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75c5904d2706f8b5f21bfe728e6b05ef005c5f91
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-37-55_1776088411/pose.jsonl
@@ -0,0 +1,327 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1461.7239299510793,
+            387.8646632212661,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1460.2239299510793,
+            390.4627394326194,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1458.7239299510793,
+            393.0608156439727,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1457.2239299510793,
+            395.65889185532603,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1455.7239299510793,
+            398.25696806667935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1454.2239299510793,
+            400.85504427803266,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1452.7239299510793,
+            403.453120489386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1451.2239299510793,
+            406.0511967007393,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1449.7239299510793,
+            408.6492729120926,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1448.2239299510793,
+            411.24734912344593,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1446.7239299510793,
+            413.84542533479924,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1445.2239299510793,
+            416.44350154615256,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1443.7239299510793,
+            419.0415777575059,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1442.2239299510793,
+            421.6396539688592,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1440.7239299510793,
+            424.2377301802125,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1439.2239299510793,
+            426.8358063915658,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1437.7239299510793,
+            429.43388260291914,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1436.2239299510793,
+            432.03195881427246,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1434.7239299510793,
+            434.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1434.7239299510793,
+            434.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1434.7239299510793,
+            437.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1434.7239299510793,
+            440.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1434.7239299510793,
+            443.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1434.7239299510793,
+            446.6300350256258,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-42-0_960188534/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-42-0_960188534/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..579ed5063f8ffda63764f57575195cbdbc2b9610
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-42-0_960188534/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1184.414532692436,
+            335.5884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1181.8164564810827,
+            334.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1179.2183802697293,
+            332.5884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1176.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1176.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1173.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1170.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1167.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1164.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1161.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1158.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1155.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1152.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1149.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1146.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1143.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1140.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1137.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1134.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1131.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1128.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1125.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1122.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1119.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1116.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1113.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1110.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1107.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1104.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1101.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1098.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1098.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1098.620304058376,
+            331.0884156264366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1097.120304058376,
+            328.49033941508327,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1095.620304058376,
+            325.89226320372995,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1094.120304058376,
+            323.29418699237664,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1092.620304058376,
+            320.6961107810233,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1091.120304058376,
+            318.09803456967,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1089.620304058376,
+            315.4999583583167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1088.120304058376,
+            312.9018821469634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1086.620304058376,
+            310.30380593561006,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1085.120304058376,
+            307.70572972425674,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1083.620304058376,
+            305.1076535129034,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1082.120304058376,
+            302.5095773015501,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1080.620304058376,
+            299.9115010901968,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1079.120304058376,
+            297.3134248788435,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1079.120304058376,
+            297.3134248788435,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1076.5222278470226,
+            295.8134248788435,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1073.9241516356692,
+            294.3134248788435,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            1071.3260754243158,
+            292.8134248788435,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.0,
+            284.0,
+            -0.375382
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-12-31_1138101281/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-12-31_1138101281/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3dc3d96cc7b9a38b89291ba10793717c73c7b2d3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-12-31_1138101281/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1391.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1388.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1385.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1382.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1379.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1376.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1373.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1370.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1367.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1364.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1361.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1358.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1355.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1352.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1349.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1349.4722745183778,
+            15.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1346.8741983070245,
+            16.79926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1344.276122095671,
+            18.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1341.6780458843177,
+            19.79926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1339.0799696729644,
+            21.29926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1336.481893461611,
+            22.79926876632273,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1336.481893461611,
+            22.79926876632273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1333.481893461611,
+            22.79926876632273,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "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_average/2025-1-9_3-18-10_1660038320/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-18-10_1660038320/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..468e255d9a3cdcb4ef7b83f2d6d4774f47dfe2b8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-18-10_1660038320/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            642.4499534482634,
+            165.8196490048914,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            643.9499534482634,
+            163.2215727935381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            645.4499534482634,
+            160.62349658218477,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            646.9499534482634,
+            158.02542037083145,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            648.4499534482634,
+            155.42734415947814,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            649.9499534482634,
+            152.82926794812482,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            651.4499534482634,
+            150.2311917367715,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            652.9499534482634,
+            147.6331155254182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            654.4499534482634,
+            145.03503931406487,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            655.9499534482634,
+            142.43696310271156,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            657.4499534482634,
+            139.83888689135824,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            658.9499534482634,
+            137.24081068000493,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            660.4499534482634,
+            134.6427344686516,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            661.9499534482634,
+            132.0446582572983,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            663.4499534482634,
+            129.44658204594498,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            664.9499534482634,
+            126.84850583459166,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            666.4499534482634,
+            124.25042962323835,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            667.9499534482634,
+            121.65235341188503,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            669.4499534482634,
+            119.05427720053171,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            670.9499534482634,
+            116.4562009891784,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            672.4499534482634,
+            113.85812477782508,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            673.9499534482634,
+            111.26004856647177,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            675.4499534482634,
+            108.66197235511845,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            676.9499534482634,
+            106.06389614376513,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            678.4499534482634,
+            103.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            678.4499534482634,
+            103.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            681.0480296596168,
+            101.96581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            683.6461058709701,
+            100.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            686.2441820823235,
+            98.96581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            688.8422582936769,
+            97.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            691.4403345050303,
+            95.96581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            694.0384107163836,
+            94.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            696.636486927737,
+            92.96581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            699.2345631390904,
+            91.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            701.8326393504437,
+            89.96581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            704.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            704.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            707.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            710.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            713.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            716.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            719.4307155617971,
+            88.46581993241182,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-29-40_897534569/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-29-40_897534569/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58a612c1a3ea191e355ef80f1564b38e7893cabf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-29-40_897534569/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            750.5920896746267,
+            506.46676354746313,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            749.0920896746267,
+            503.8686873361098,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            747.5920896746267,
+            501.2706111247565,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            746.0920896746267,
+            498.6725349134032,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            744.5920896746267,
+            496.07445870204987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            743.0920896746267,
+            493.47638249069655,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            741.5920896746267,
+            490.87830627934324,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            740.0920896746267,
+            488.2802300679899,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            738.5920896746267,
+            485.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            738.5920896746267,
+            485.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            738.5920896746267,
+            482.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            738.5920896746267,
+            479.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            738.5920896746267,
+            476.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            738.5920896746267,
+            473.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            738.5920896746267,
+            470.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            738.5920896746267,
+            467.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            738.5920896746267,
+            464.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            738.5920896746267,
+            461.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            738.5920896746267,
+            458.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            738.5920896746267,
+            455.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            738.5920896746267,
+            452.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            738.5920896746267,
+            449.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            738.5920896746267,
+            449.6821538566366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            737.0920896746267,
+            447.0840776452833,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            735.5920896746267,
+            444.48600143392997,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            734.0920896746267,
+            441.88792522257665,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            732.5920896746267,
+            439.28984901122334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            731.0920896746267,
+            436.69177279987,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            729.5920896746267,
+            434.0936965885167,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            728.0920896746267,
+            431.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            728.0920896746267,
+            431.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            725.4940134632734,
+            429.9956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            722.89593725192,
+            428.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            720.2978610405667,
+            426.9956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            717.6997848292133,
+            425.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            715.1017086178599,
+            423.9956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            712.5036324065065,
+            422.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            709.9055561951532,
+            420.9956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            707.3074799837998,
+            419.4956203771634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            704.7094037724464,
+            417.9956203771634,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            400.0,
+            -0.375042
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-36-20_1820042348/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-36-20_1820042348/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8af014410d77be947eeb74ed568c2243a6d46b1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-36-20_1820042348/pose.jsonl
@@ -0,0 +1,171 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1332.0996533889504,
+            922.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1329.501577177597,
+            921.2736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1326.9035009662437,
+            919.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1324.3054247548903,
+            918.2736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1321.707348543537,
+            916.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1319.1092723321835,
+            915.2736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1316.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1316.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1313.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1310.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1307.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1304.5111961208302,
+            913.7736931400094,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1208.0,
+            876.0,
+            1.28005
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-37-29_138172497/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-37-29_138172497/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d5d44f4c006e9d70ad05b087c583a10a81cb0b4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-37-29_138172497/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            868.2202943678275,
+            110.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            865.6222181564742,
+            108.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            863.0241419451208,
+            107.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            860.4260657337675,
+            105.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            857.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            857.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            854.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            851.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            848.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            845.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            842.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            839.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            836.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            833.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            830.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            827.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            824.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            821.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            818.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            815.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            812.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            809.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            806.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            803.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            800.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            797.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            794.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            791.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            791.8279895224141,
+            104.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            789.2299133110607,
+            102.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            786.6318370997074,
+            101.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            784.033760888354,
+            99.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            781.4356846770006,
+            98.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            778.8376084656472,
+            96.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            776.2395322542939,
+            95.35847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            773.6414560429405,
+            93.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            773.6414560429405,
+            93.85847466627683,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            772.1414560429405,
+            91.26039845492352,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            770.6414560429405,
+            88.6623222435702,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            769.1414560429405,
+            86.06424603221689,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            767.6414560429405,
+            83.46616982086357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            766.1414560429405,
+            80.86809360951025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            764.6414560429405,
+            78.27001739815694,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-43-22_979601485/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-43-22_979601485/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..429dba4b720b295d3a4948044bbdef0267d34b5f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-43-22_979601485/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1949.9989705992,
+            912.8468444811551,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1949.9989705992,
+            909.8468444811551,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1949.9989705992,
+            906.8468444811551,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1949.9989705992,
+            903.8468444811551,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1949.9989705992,
+            903.8468444811551,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1951.4989705992,
+            901.2487682698018,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1952.9989705992,
+            898.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1952.9989705992,
+            898.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1952.9989705992,
+            895.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1952.9989705992,
+            892.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1952.9989705992,
+            889.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1952.9989705992,
+            886.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1952.9989705992,
+            883.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1952.9989705992,
+            880.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1952.9989705992,
+            877.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1952.9989705992,
+            877.6506920584484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1951.4989705992,
+            875.052615847095,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1949.9989705992,
+            872.4545396357416,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1948.4989705992,
+            869.8564634243883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1946.9989705992,
+            867.2583872130349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1945.4989705992,
+            864.6603110016815,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1943.9989705992,
+            862.0622347903281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1942.4989705992,
+            859.4641585789748,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1942.4989705992,
+            859.4641585789748,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1942.4989705992,
+            856.4641585789748,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1942.4989705992,
+            853.4641585789748,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1942.4989705992,
+            850.4641585789748,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "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_average/2025-1-9_4-15-26_405341089/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-15-26_405341089/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f26240f6bf3f8611f648410e3c8b1a0cb59edc5f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-15-26_405341089/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1699.108279918248,
+            173.95423359848724,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1700.608279918248,
+            176.55230980984055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1702.108279918248,
+            179.15038602119387,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1703.608279918248,
+            181.74846223254718,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1705.108279918248,
+            184.3465384439005,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1706.608279918248,
+            186.94461465525382,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1708.108279918248,
+            189.54269086660713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1709.608279918248,
+            192.14076707796045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1711.108279918248,
+            194.73884328931376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1712.608279918248,
+            197.33691950066708,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1714.108279918248,
+            199.9349957120204,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1715.608279918248,
+            202.5330719233737,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1717.108279918248,
+            205.13114813472703,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1718.608279918248,
+            207.72922434608034,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1720.108279918248,
+            210.32730055743366,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1721.608279918248,
+            212.92537676878698,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1723.108279918248,
+            215.5234529801403,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1724.608279918248,
+            218.1215291914936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1726.108279918248,
+            220.71960540284692,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1727.608279918248,
+            223.31768161420024,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1729.108279918248,
+            225.91575782555356,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1730.608279918248,
+            228.51383403690687,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1732.108279918248,
+            231.1119102482602,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1733.608279918248,
+            233.7099864596135,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1735.108279918248,
+            236.30806267096682,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1736.608279918248,
+            238.90613888232014,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1738.108279918248,
+            241.50421509367345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1739.608279918248,
+            244.10229130502677,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1741.108279918248,
+            246.70036751638008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1742.608279918248,
+            249.2984437277334,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1744.108279918248,
+            251.89651993908672,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1745.608279918248,
+            254.49459615044003,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1747.108279918248,
+            257.09267236179335,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1747.108279918248,
+            257.09267236179335,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1749.7063561296013,
+            258.59267236179335,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1768.0,
+            284.0,
+            -1.77502
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-4-8_1889537797/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-4-8_1889537797/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4568231db74a5af0bfe5f5df8460d85a5c974b37
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-4-8_1889537797/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -220.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -217.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -214.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -211.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -208.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -205.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -202.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -199.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -196.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -193.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -190.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -187.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -184.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -181.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -178.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -175.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -172.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -169.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -166.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -163.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -160.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -157.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -154.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -151.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -148.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -145.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -142.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -139.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -136.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -133.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -130.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -127.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -124.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -121.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -121.52055170416108,
+            -368.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -118.92247549280776,
+            -370.28535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -116.32439928145445,
+            -371.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -113.72632307010113,
+            -373.28535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -111.12824685874781,
+            -374.78535855810696,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -108.5301706473945,
+            -376.28535855810696,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -88.0,
+            -380.0,
+            -1.13129
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142801.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142801.png
new file mode 100644
index 0000000000000000000000000000000000000000..463ad095e4d01e0507b2ad23da56edf36270a39c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142801.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdd8859619c02bc5fc19437c61daac89116384f2154195c604fe1f5d6afd7b7f
+size 863710
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142803.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142803.png
new file mode 100644
index 0000000000000000000000000000000000000000..fc9eac9e2ff452d9b363615e34201fb178fe43e2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142803.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f56e529a7ed3585c870d221dc9ddacd4f3acdd828cfd016f988f31fb26a5adab
+size 836309
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142805.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142805.png
new file mode 100644
index 0000000000000000000000000000000000000000..65341f6304ddc70434649c98d808e71db911bcef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142805.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd323d8560c6b728a67805e6097e4b846c7dff772acc004971a8a31360442e63
+size 842667
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142808.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142808.png
new file mode 100644
index 0000000000000000000000000000000000000000..29725f78ba0e5c10b12ebc9c4b90603a6e147384
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddb12bb1af7693d868042df32ee9daaeb2198356b613f4b1061cb181ef2932ee
+size 829354
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142810.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142810.png
new file mode 100644
index 0000000000000000000000000000000000000000..de5a07390ec2dc85be364075b49a09313edddc2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142810.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde17184c6c05f47aa0ae4ffeba96eb97a9bfeaabe54499a9c76591c79f7edc5
+size 839932
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142812.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142812.png
new file mode 100644
index 0000000000000000000000000000000000000000..8481e4743de6dce8b916ead48d17eae7c2020ab1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142812.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db31fd8ce45317ab293f9c5e35f803b8fad0fc22e8d4229388fd0da5814c2fb5
+size 851745
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142815.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142815.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5fab3613d3bdd6c7eeae628641d845c64113d52
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3de9177983405c45c819dfabc117e4ff8d3b20e42eb783abcfdd369b07b7b008
+size 853949
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142817.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142817.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b09ffaaba4d424427bbafc27fdbffc22d5328a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01cce41923d71b737a6852da63e62178ece162593847456969565806d411bed
+size 849613
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142819.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142819.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf25ebdbfcaec86fb9b8562dfc3e604419dee485
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e353ff629afc4163934de149fae4c0d35fb8945aee8c52a22219ddfc30b81c98
+size 836286
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142821.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142821.png
new file mode 100644
index 0000000000000000000000000000000000000000..c8696b536fd38c8d54b411747db9e1c585223e33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142821.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78d6ed48765cfeb84f54c9b060cf543e779bf0d6940fc8958b617c87a25c46a5
+size 833716
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142824.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142824.png
new file mode 100644
index 0000000000000000000000000000000000000000..f62294a32d269350ec85f253c5220d1031d13275
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369c52653093bde19b911e6479cb0afa50405d30d5d00e8452fda19b57a3fa03
+size 834002
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142826.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142826.png
new file mode 100644
index 0000000000000000000000000000000000000000..9236e7330bf1955041f81cd595799eb918bfafca
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1261915a2c13aa06f0fb625f33a0596598800d2c1a8aefce5fd80deb170d226c
+size 828863
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142828.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142828.png
new file mode 100644
index 0000000000000000000000000000000000000000..54312cbc0b73d2fe4370ed0e3c302dafa0b092b3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf5365acb330b4f1f8939c2b8c904f90201ddf444bc58287f903fa8f8109ccb
+size 831848
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142830.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142830.png
new file mode 100644
index 0000000000000000000000000000000000000000..98ba5b523f3384c575472467d52173ef8551f868
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf52970ec83ec697efcb1b7646c8bc766d0f97f344221b8a184c3ff85c1c4a64
+size 826063
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142832.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142832.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c44ebf94393fffeebcec43f4eb23849e2c6c784
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7746a3d401b4be9e1ee7bbed5eec7d6acf55728d09e38932f40483dfd627bcd2
+size 825038
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142835.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142835.png
new file mode 100644
index 0000000000000000000000000000000000000000..45771ed163cd30ad3abaf9967a57584c4dd14aaf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142835.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e247171086fb6128d8fbb50f190fd08b83e2cf863eb5433b1b93285cea9fe414
+size 827251
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142837.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142837.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a02ca9c495ed3d06236e47b790ad8e2e7c7d0ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142837.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1d6f8b5d67e73c819266f4bc7437d85fdcb136fb9fe2c08c8dd5eea0c31583
+size 813828
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142839.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142839.png
new file mode 100644
index 0000000000000000000000000000000000000000..398106c6578642a0b019202d59c7c4a254ead45d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142839.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c070d32ebe3d987172ee2d0cd012073be6a838a5a1aeff846ee9ff79a54b4601
+size 808559
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142841.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142841.png
new file mode 100644
index 0000000000000000000000000000000000000000..f78903a4e9e36a5e60f96bffaa6736dd6e55f5c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142841.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93dc713f3a2e6e3c654fd480b5ec65464557f5cf6396090968752222ee4301f
+size 816834
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142843.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142843.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5ab0106d91abb078987f8004b135674ee052e87
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142843.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1963675a793bfdff15300011612405c9c0abbc723d1197d85692f8bbf86a73b8
+size 803327
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142846.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142846.png
new file mode 100644
index 0000000000000000000000000000000000000000..a002e95c5617e2e818101e3ee863901061759f45
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142846.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdd31450a68bf9e7f2999416d32d48b5e5e05094f308f7a88b2bbb7e63c79262
+size 767527
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142848.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142848.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ed78e089cb1c869cc55af9c346a5faf8b511e74
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142848.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7094320848ce0e1299c7fc17e7294b59c56ae67b95b9c28d2d3908ed44556db0
+size 770839
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142850.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142850.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dcebebe8b0bece9f99b8715a7fb774f8d702be6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142850.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b7d287e33fd8037b8d6e08530b062ee9de7608023f680cd0dc2fdcd043101b
+size 771058
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142852.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142852.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ab805c0ec635038629d84fa876cdb1df8efded6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142852.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cfbe6987ec8de03f9eb648491f54ee595002234819779cf193f9f90d7f31622
+size 771433
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142854.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142854.png
new file mode 100644
index 0000000000000000000000000000000000000000..24acb7d21f2b5503b9b74d08c4c1a925564e3313
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142854.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46de6195535639f39900b4ddd646620239f1dbf05ed19bfe95a4ded1ec8f45f
+size 773649
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142857.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142857.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bbbbe3221239852b796d0aaf9b870a81f91a878
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142857.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab8ea319d630a008d23ebeb798be81c1cf753a9d8a8498cc462c8d7aee3b87f
+size 774383
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142859.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142859.png
new file mode 100644
index 0000000000000000000000000000000000000000..64aade50bf48a89f7296932f4f0136b141f46419
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142859.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5415db68f49cb75dbbe485813857698b7ee668ddeacc147b73e3c2a7fec69815
+size 781523
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142901.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142901.png
new file mode 100644
index 0000000000000000000000000000000000000000..c982fa0e3a22817e69045ae4ba2fc0716bec7b57
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142901.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ceb0461a3731d6d08211da68be339418b1f229b3e717fa537ebcaea0620ea8
+size 782179
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142903.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142903.png
new file mode 100644
index 0000000000000000000000000000000000000000..260ad8ab0d459081de17bbff49f9709db2f025c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142903.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da28143dad9409d48ace818dd89d72a3569abb26f659facdb25fd282c3c4be72
+size 790390
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142905.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142905.png
new file mode 100644
index 0000000000000000000000000000000000000000..9010ee0e531e8c2259727e1d9dd89c8e11ca7032
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142905.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82cafc592f7e0091b083e82a1762e7a555c693f33225c4062381fbdc122b85d4
+size 801653
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142908.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142908.png
new file mode 100644
index 0000000000000000000000000000000000000000..74e63f25c910efe5c6c157b38e98ba22667c24a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142908.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf18338ce0506ada15a2f1c66f63f105ef817e9570c737d9243ad1be90af5fa
+size 812323
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142910.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142910.png
new file mode 100644
index 0000000000000000000000000000000000000000..e822556f63a306c8a69279ccabf60af1d5342f77
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39008f9490379c066234e3337ec95dd22b3a3e75637298d5db8954a3eb09bfd9
+size 813972
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142912.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142912.png
new file mode 100644
index 0000000000000000000000000000000000000000..17586bcfcbd06d5c59883e12f9f46036b2ebd21c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142912.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1203ccfdadb317a6af5b980fa3024113a2ed698ae482c5c7663f6e6e708bd612
+size 813956
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142914.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142914.png
new file mode 100644
index 0000000000000000000000000000000000000000..9064906732d0f9e6e27514ae73cfb5d96bde0720
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142914.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a3fbf438730ff6161812a9dbf5019b74386511c0301f1eb763b43982f1f473
+size 805099
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142916.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142916.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f977aab6ced811c5c2d47f322b3ed328d87f94
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142916.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76b990c38c8a813ee74f54965ff8e702aab9dd33f6feddc5dffd57379df7e98d
+size 798170
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142918.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142918.png
new file mode 100644
index 0000000000000000000000000000000000000000..956cadd289ef6b1c68f4ad35699057652d628736
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142918.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0db083013dd2f1ff41ee363114f488d35f1fc2f3845ead3a66d38f72485ff9b
+size 798880
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142920.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142920.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c917e56b432bad4c18da1cd7121670455e94f8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142920.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9bdc9c962d8346672f23de34063876913a7304fe25aff6178a41c6e4ca349b5
+size 741635
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142923.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142923.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b253a69a7b95de60ece47c241e05151da4b6e5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f34a8beb59a07247f086620039acd224ca7c7ced75f40a35242677eb1e6228
+size 810097
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142925.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142925.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7c8d0db79d861a21c448c2aafa6e8acefd9affe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d07f47fb74689b848f69eb1fee3584154e75c9c0dd919462af48a4ca9e46195c
+size 821958
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142927.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142927.png
new file mode 100644
index 0000000000000000000000000000000000000000..f05106f5a9345c6a5390adf48f100e31c09d8265
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec61cf088dc7ce38b449d2bb902a619e85d5d0c439407c9dc5ff9c40c9754690
+size 814074
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142929.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142929.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8af17779b8f8aef8d6f8ff0c9cf752992e98e72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e123b2c88f5057688ca955d3a97d3c408347a2bd26b734c5d915a6281d3c88
+size 812801
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142931.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142931.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dca9c614564a26c5e53e569102a22c5d3603a91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e244c4c2c0bdbde81105bc86057a2a13e53b4fd0e8a2f18d5ee2d5cc2e24a3f1
+size 807703
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142933.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142933.png
new file mode 100644
index 0000000000000000000000000000000000000000..75fa8258f29b79054aa882de24963a7123a5ed37
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30053cd4352e8e2af3a3d6ac898de95f5807f311c267ac094461d5216537557c
+size 807969
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142936.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142936.png
new file mode 100644
index 0000000000000000000000000000000000000000..e38d97bdf2074e7ef0e20b0747323dad60416978
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e81390bc13ca899940a485ec646b30089ff87078c043b7933b1fa39ad300e0f6
+size 807698
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142938.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142938.png
new file mode 100644
index 0000000000000000000000000000000000000000..90fe6c4fee4c4b6a2f7ab4929497ce5298b83f4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9fa61e00479fe01ceb9bf3a020ae3efa3c01592ad6f6ed81075dfd3a3a18f27
+size 807611
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142940.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142940.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f942da59172d06f22089fafc6f56c88ad44e20e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f5559bbd7da3122adcee5123546d9caba2dd83330599b6068e6963239b1d06c
+size 803915
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142942.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142942.png
new file mode 100644
index 0000000000000000000000000000000000000000..53871aac5fd2300502d963e3ddd269cc2f64c138
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eac6de68f09821f6d41e566e0a4d6c455399696200a79870360cd0d257e5595
+size 806301
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142944.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142944.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f82678d1730915812922657d1800561c46a219e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bbdf6a1ed4a32141178a6abd2a47a8c820d40aaeef90a915e48bdddbc42f40
+size 803520
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142946.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142946.png
new file mode 100644
index 0000000000000000000000000000000000000000..569bdc70bd1cae7c4b63728f06326f1fc29fc5f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486afdf30f590d138370c5018dc69c95a195cc59d0dcbf7404be2199360d8b46
+size 796959
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142949.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142949.png
new file mode 100644
index 0000000000000000000000000000000000000000..4eef97d34efe234080f56400f280a88619a6be71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142949.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36663862f3297f07a0f3497dbf01f557b14cec7b4c58dead003a4a34fe9fa54
+size 786762
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142951.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142951.png
new file mode 100644
index 0000000000000000000000000000000000000000..c96d7c26feb0a5b1d0a0b25ada61863b46d67b99
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb69c5c90903642abd93f698873a8d639633ae46e79cb9f8cb8bd7b21ba1987f
+size 778133
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142953.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142953.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ba8fa5773b44f137e89d0024fa141c66592bf81
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_14-27-59_716334471/20250115_142953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b90930bf3ef884e129bb85944a016ac29abf38c6e54989e233df3acbf0c8d636
+size 581587
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081338.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081338.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4d982efb7754d424381eae20937cc71ece822f2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081338.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670f5e4e7c26befb5e2f8c9e3c553a3506263b34c92f24978d1d7a59862f6d3c
+size 724027
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081340.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081340.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cc98025d9e42665ce6c3f3a57da4507a0f33b53
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081340.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87475021acb26e689575e92179dcdf903093283e425f36bc882415165d834d8b
+size 717932
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081344.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081344.png
new file mode 100644
index 0000000000000000000000000000000000000000..df72a89b9df0d3114f50c99df59aff338efb5ccd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081344.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7fd9f236d4686f73b8c6af841d8566fe160cebb1c719e5b3c321d3f69e68e3b
+size 708684
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081347.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081347.png
new file mode 100644
index 0000000000000000000000000000000000000000..78a8cf28fc2935db85c91226d9f101414b44c8af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081347.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb90be63718e7afdbda350a1e8c5be38d90badd28118506eef3a30e1c0697ff
+size 721409
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081349.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081349.png
new file mode 100644
index 0000000000000000000000000000000000000000..177974cb94fada65cf3220ad980278c955704e40
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081349.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a5fa49c1bcd474cb828e4f93831a1ff9b4ff8cb3067689d717b0696ef0059a
+size 682575
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081353.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081353.png
new file mode 100644
index 0000000000000000000000000000000000000000..f272b3b940fc782dfca52f032b30e253d51236ad
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081353.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0de9f5d2c55c52ed365de00f21a014bcf5311b4613c58b2c621c4af842067c0
+size 671549
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081356.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081356.png
new file mode 100644
index 0000000000000000000000000000000000000000..48c958326badea3caa359066dd9db0a8d5c8af56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081356.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ad092310f7de0201b6170794bcb368ed80328fb3b2a713817217e3dce1cae8a
+size 677703
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081402.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081402.png
new file mode 100644
index 0000000000000000000000000000000000000000..77616c595df89d83e88f93c1598d9fada5d6493f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081402.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae0ccd8037bad19408009377073dfce5c1516829b988d2da792ed5682972d86
+size 687316
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081404.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081404.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb2c0cc3d9fd49d25881641586b4188c6069a66f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55cedb865cd1794669de61cd3767eccff37df244147bc54b048a61817a92f509
+size 687952
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081409.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081409.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5e42c87eb6604346c213af49b6bf3f6b8914ffb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081409.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:167b76e752855247e6767b2348478f8803adf6cfa9470368f900ef90b6fea624
+size 684062
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081413.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081413.png
new file mode 100644
index 0000000000000000000000000000000000000000..401701c6ed04fcd019b76a0a4644df68c1d712aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7153627fb87c80e5498fb32386c3175eb0a8c736e47a980cfca03be2a220198f
+size 678127
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081415.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081415.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac5dafb8a381d82851ddc56d676e2699f07c73b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6197cc5457607e98ea15caecd81a285bc928c15bfcce0a6d7755af9d68a0bf95
+size 675177
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081418.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081418.png
new file mode 100644
index 0000000000000000000000000000000000000000..30bf10e711f4804fef766d87e1a6f69b8effa5ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081418.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbf464d929c530af2e433cb1bac85c62eae60883ee0b6bf19eff0de019ca949
+size 671767
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081424.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081424.png
new file mode 100644
index 0000000000000000000000000000000000000000..adfc49ff00cb8d663561d7f38907cc985bd02d8e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081424.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c03af01e7e8259c9a61100ec6e410e1e453a2176868f84d8ba6ab40b99d81d18
+size 670125
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081429.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081429.png
new file mode 100644
index 0000000000000000000000000000000000000000..514fa26a7c6bb4dbfe3c194e1f0e4c5b8e2cf0f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081429.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b5a32820ab3735d9b8eecb96d6b37bd2bbcd6d7e6cee99188cec65ec575472
+size 673388
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081431.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081431.png
new file mode 100644
index 0000000000000000000000000000000000000000..769404abd3cd0d01784cb9cdb1c634a6a62aa7df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081431.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:798fdee6d25a478d7a4e769b17c98d5723fa4f364af16ec7094f1491f0c20aa7
+size 674179
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081435.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081435.png
new file mode 100644
index 0000000000000000000000000000000000000000..c4e0fcb3f990b002c975b45c2794953ba5cd4ac0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081435.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6507f55fb0b526a25a9302ae1d9e6b20c9064e5a9b03b2829ec9a71eb4a3515c
+size 675936
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081438.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081438.png
new file mode 100644
index 0000000000000000000000000000000000000000..27ae33adb71155472b88993d05de74ee5616cef7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081438.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8571613272de57a09ac9a0697edbe9a7eb81436efaf1fe9bdd4be6e1591f160a
+size 676525
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081444.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081444.png
new file mode 100644
index 0000000000000000000000000000000000000000..755461b790b80426b3652b31315036e06fda52c2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081444.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878ad98797fe5e1623a8800bbfede81cab872ce7be4b12aae2a34830d53e0826
+size 683282
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081449.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081449.png
new file mode 100644
index 0000000000000000000000000000000000000000..48d4ae7f32100f358949692fa20c7b77261ee338
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081449.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2547ed5d89e3dc4349dfc8fef5e0b07ec8cad190ae799a5a7a391b8659485dc6
+size 685417
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081453.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081453.png
new file mode 100644
index 0000000000000000000000000000000000000000..39cb29fc32e59cc630d2fd382b1108c0d2108dbb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081453.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14be745410b4158eb2f678fc092e189c5e3ec7e4a6190cf742d654066a9d7e62
+size 688376
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081455.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081455.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e6c8bd767ce711b921fda114ff08072a69ee151
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081455.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dcbc7e6e8676052139379aaa858a8b0bf1afb3df1bce553f3600984809ad99f
+size 688160
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081500.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081500.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec289334d56e0dd7859c837ad89c0dcd2b281821
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081500.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d105f6dc42d2e8cfd656f1b6dda0c51d93feb41c5ad04537cbdf223f327aa632
+size 691694
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081502.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081502.png
new file mode 100644
index 0000000000000000000000000000000000000000..59f21718aeaa24f200a95a053120684a41ab9969
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081502.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d21422d350f81613976403a72d498572b06e58bcf81007aaed372a94e3d3982
+size 691173
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081504.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081504.png
new file mode 100644
index 0000000000000000000000000000000000000000..095d84f4b2c4f3c5b118372a8465ffb450543414
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081504.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:640fad0947412e145a130bb75260f240d41c878ae28af23f9568b4fcc90eecb5
+size 698739
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081507.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081507.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a98e54397cec8b1cb616210b59bff4ea0218c34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65f8a557f04c082a364a1c0a07a83348b3eb2343d186af563eb8ea7869f892f
+size 702335
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081509.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081509.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3310d71f062241500e959342de99327b04c2997
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ff376177720fc43143b19f31fdf329ce885e8076b0dc229ee14c3fedd7fecb
+size 704746
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081515.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081515.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c8a42d4aece29ad77fda5a90242b89a43645843
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b538b20ed1a32c85fd8d4e605276121a7407cf188856dc68681371bd3bc750d7
+size 718392
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081524.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081524.png
new file mode 100644
index 0000000000000000000000000000000000000000..0840e24bd465d19f7bc093099152823df0edbb5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d5fb6eecfc9666c3a0c879234f60c8f3aeab870a9e18eabfd321bae8a080db0
+size 737125
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081529.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081529.png
new file mode 100644
index 0000000000000000000000000000000000000000..40ee71b060c201717137c6cfa3ce8f6c836b60ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb91f0cf2cbfd102b0509b774e29ce0bef844b7cf805ce38a657b4103eef52c7
+size 748443
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081533.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081533.png
new file mode 100644
index 0000000000000000000000000000000000000000..aad99d3d1ff0145d6b7d4b4592ebd2ead8b27f14
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95093c1f6e7b1a8c35c35f9cfbde89213ed983f866bc4002dcfcb7cd65d38127
+size 750441
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081535.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081535.png
new file mode 100644
index 0000000000000000000000000000000000000000..79fce1f3f877296232754b0d787f6b86d5e7738a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081535.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54db5894999632bcf256eba953098d1ee1fa5b05ae1b1127e3c8d68950730a70
+size 749023
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081542.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081542.png
new file mode 100644
index 0000000000000000000000000000000000000000..c163ac4a506622cd4ece8e0e9e89bc2bad407ff2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4724d9311f6fce9a9a419dcef7f901e93909f8f1bbf046e6ee0cbe9d3e7d8851
+size 755281
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081546.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081546.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a0c9bd4781d36805b5c6d1fd1e12f399740e376
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081546.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a8ada10da1b3e7798ca34fbecff8174ac4e3affefc62c140e747841f1238734
+size 758335
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081548.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081548.png
new file mode 100644
index 0000000000000000000000000000000000000000..72080e3dd8d32246ef25f43c693eb49d4438a694
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081548.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:898351ad3b5a90f1370207badf1d4ab7da08d7db1ab19f0f6d3107bde30fbcb1
+size 759882
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081553.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081553.png
new file mode 100644
index 0000000000000000000000000000000000000000..49b6d5419c60891c17bc7df3f8b6d1a8c5635835
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7302e509c1cd342f4509713abfa2363e7e7f0f1b98c21bbc8fd78107c84109b
+size 776440
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081555.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081555.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba20043639d5a0509689913062eaf3a0809cd4f3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081555.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ac58f25065c36d8916ab0df57473ca633e00853a5fff5b828baf543613c86a
+size 787723
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081600.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081600.png
new file mode 100644
index 0000000000000000000000000000000000000000..6483c582ac108b0e560cac1ba8052f2ceb88ada7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cf8b0f65b220dfcdda7cb55edddad9e2daa9afa6d054b868c936d02ed3349f
+size 798265
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081604.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081604.png
new file mode 100644
index 0000000000000000000000000000000000000000..446d103e080bd92f3e0fdc2d25df7323129740fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081604.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da962429063ad9f4d27c80cba8c1a3cf4a0373916f092b171fcb36a255c8cfc1
+size 797506
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081606.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081606.png
new file mode 100644
index 0000000000000000000000000000000000000000..b71abb9b4f34f0e7fbc0101c8f6426d8b33350df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081606.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf759c029b488c118e10eb1e2dcdc7dff7dd987277450220c87867176d249683
+size 792321
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081609.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081609.png
new file mode 100644
index 0000000000000000000000000000000000000000..370c1aefddad14231f4d105e8e5f43d213327572
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea563371fb3ce01c99768d6b58787ee9477527071771640962a78ea66b47938
+size 795149
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081611.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081611.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f21e7d6e74202abb996d93ec2a8e070eb4dfaa4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:095bfedf57f767d587119a1fd8470d1d309ee521b82d39beb2c6799d611e0366
+size 791223
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081613.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081613.png
new file mode 100644
index 0000000000000000000000000000000000000000..c640b0e79c8e3535784e1499e759f8d55b3afe50
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081613.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23783e82ced870a8b398842b78d6db9edd239ec6f701b2cb22df43668772964e
+size 783881
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081615.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081615.png
new file mode 100644
index 0000000000000000000000000000000000000000..a76609dd56229be64d3bc046c08f4aab4a60a7b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081615.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:509f7e8320592d7ee8341ae7cdb933db1797815bb6789d21b09fea56bed3860c
+size 775638
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081620.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081620.png
new file mode 100644
index 0000000000000000000000000000000000000000..619ded5bf81eedf9a01d871d65f3cd35a6a4a3a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ff3fe1b177c4f275a992db6025e79e33d6a182bf13fac40ad1d59fffb00fa
+size 797025
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081622.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081622.png
new file mode 100644
index 0000000000000000000000000000000000000000..71b4514ad4cc1e7a24224c6deb37efc5b619c999
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ced0735b9f61d41008b02a21e68976b1ae0d1dc29d9c0d7dcd63348e3f97d7b8
+size 805101
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081627.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081627.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4c17a75ba070703f735b240d5813a4efc4fa576
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-13-33_1411154259/20250115_081627.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac6782ef3054dec5b1887148add0f90afd4d159c25ff1d004adbf42c49c04de9
+size 776553
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093025.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bcaf4c5905ac7a0e8f98a7a70d74626c984a7ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3bd7cd603e737ccf9006bf1259195345ffbc01b2f84c9df3dac7c13fc40f10f
+size 894672
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093032.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093032.png
new file mode 100644
index 0000000000000000000000000000000000000000..760b2bd1b0ea365ef17f701ce1522fbbbcc81332
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093032.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fec6ace2d490dae3b20201e4e94b6cf961f3ede3739f5b2b6b0f0118c23ff5b
+size 813008
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093040.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093040.png
new file mode 100644
index 0000000000000000000000000000000000000000..8813e97eb7fcd4fde3763154f2f601dfafc8dbe9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd7850cd944c46b0574b1bd3530bf82c3f5fb16d69e669662fe0d231c2d8dc63
+size 799256
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093051.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093051.png
new file mode 100644
index 0000000000000000000000000000000000000000..63170425434b6048ac080a6dfb95e4a7f5783f97
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093051.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:351bbc2cd7ac34f4acfe64e879505db091267bf192abb3d66343cd793103889b
+size 754008
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093053.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093053.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c6a87b03e2615104d29690c7e507976c2fbb4ef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093053.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d297ca8d48b73d81b414e3c227cdcef06f0aa10a84de3e28414a52551a249348
+size 750938
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093057.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093057.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9e493832340f50aaadb2233b4e64fe1c3acfb3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09e0eb365c06aa33f0f8662212037c39d5245704cc596e3db20a578b0745754b
+size 743905
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093104.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093104.png
new file mode 100644
index 0000000000000000000000000000000000000000..178a9937f56aef3ac71d86ae373c503e6d81dbb4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093104.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f511a7bc092a7c394ab6f025a667618bf790b421f81947cef52ed86250b35a8
+size 742254
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093115.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093115.png
new file mode 100644
index 0000000000000000000000000000000000000000..67fc7f15962376bddd9482e503a1214a5cf9b4b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fc54add2338c64905ff27fd13ee023e6481996f552f73f676d18a2e0afecc75
+size 733673
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093117.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093117.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7de8652b79f70be0396d3360726be6fa9eeeb32
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:339da506d294aa24d78efb7c5af2d468aef77d5275212af7fdf6ddd54b299af2
+size 735263
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093121.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093121.png
new file mode 100644
index 0000000000000000000000000000000000000000..931351cf74a2996e15ada6c83c3413a71648c21e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093121.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c09b22d7f31bf368054581eb6ae9daabc7dc5c0d54db214f541c8d91ece3607
+size 747490
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093125.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093125.png
new file mode 100644
index 0000000000000000000000000000000000000000..8feef0716f3f98d0d350aae62d6a87fc468738db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ddeb93d28cde89581048681caf045a4b7b813484e2245815b4acd60a6f1a84
+size 762230
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093136.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093136.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a574143f7bafec64ef1d0b5f08dc764f4fb316b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1290762e88345473204d9c3a36869bd7fb2cd2f5ee8a77bc64eb3ae9493c45bc
+size 733099
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093144.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093144.png
new file mode 100644
index 0000000000000000000000000000000000000000..8589e2da569d014c97754b97832bf2d2a74ce204
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5703dd3f5891671c5b8fdc614d1e244fbcf35c949b8e239ab597e4897e7d7f4
+size 715557
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093150.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093150.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a9b93b8688a169fd0386e22ef26d1899bd5ca86
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6577a710154749c243c8bd35a84612f07f7f344e4086141b55a1180540f4880b
+size 691528
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093152.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093152.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9d8b46fce5b57af6a1bc829f1595ed3fc43b650
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093152.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff1cb2089f60f74e14b498124efdd335dc52ef381850f4562f46fbdb3514eab
+size 690098
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093154.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093154.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc06693299230a6df617890255f1cfe89fa8d1ea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:458848bb56fb35fe12fbb46068e88a58cbf3d50b8e8ec206b00323ac8cba384f
+size 693895
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093158.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093158.png
new file mode 100644
index 0000000000000000000000000000000000000000..abf7a71ec66a3d741370294d9bc0136ee4d9530b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad87073e9afb94f3c903d622cbd5c927dcc1e80ee7d56ce35f21ac68f80f6db
+size 695935
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093200.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093200.png
new file mode 100644
index 0000000000000000000000000000000000000000..1286f7d6bc5693db14e9395ff9cc9df0ecb50bf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b7c77c39e839a2714c076b2edf411629191e6f2e87ca54a1c7c07c75ccf4d63
+size 690874
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093206.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093206.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2677b2c5490b14ff46e678af65b07a5827405f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_9-30-21_78012497/20250115_093206.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9d2f644bfe909cadf8e62fae4f669090e20f5b0cb2882d348b4e6f69f785647
+size 685581
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152507.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152507.png
new file mode 100644
index 0000000000000000000000000000000000000000..2438f12a0ee9f77061ac68fe8ca60acd8c34c010
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152507.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef635f10d19e31f0d5866cf4b1477e29b2e92ddc9cc6a77b13dc6ad5eb80149
+size 388229
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152509.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152509.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a7765b3b2065e9fcdcf31b179a8bb5e52820067
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152509.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd6296fcbdc6f68761d9dfee847a649d2f00c5489d33737bc444944eb11b1e03
+size 820390
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152511.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152511.png
new file mode 100644
index 0000000000000000000000000000000000000000..570ac6e80f2a706f80ccc024d9768b19bbdca933
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152511.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c325beb673f2277c5f2fae9bb3b656f901d22285bbc7bd653e1b2fcdddac608
+size 831395
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152513.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152513.png
new file mode 100644
index 0000000000000000000000000000000000000000..0ec982cbc0cacc9bea2525caebbe6f604e7eb70b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152513.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5929a8d378c640b650c24c850022837989e98278a4a769a7af700cb93045a7d2
+size 837547
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152515.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152515.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ca186bdb8de3617a07d6c4a14fcf52dde13d34b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152515.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c32360ba4507c54338d72ab6626b417e7320432ec456b32f1b2568c7cb8cf3
+size 823129
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152518.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152518.png
new file mode 100644
index 0000000000000000000000000000000000000000..9da26885ce04a123e3200ca4618c9c4c19195279
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152518.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e8f0f85d744d53e2991811e33b8f3381379838a518a254009561fdd3988a877
+size 815247
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152520.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152520.png
new file mode 100644
index 0000000000000000000000000000000000000000..20c1f66cd4f56bf4649c293903164f74387f4202
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152520.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8532bd6d9c0aa6598f83ddc5e8122d377055d8f35bfadb4797ec6f45645b516c
+size 804169
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152522.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152522.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bd177ce33b938cfacb581023f3a06635939c5e3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152522.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebc8aa82c9d3f1183b4d29f121be826c6c5233eabff5374865891e473726965
+size 796106
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152524.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152524.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fd1bf2f8480f02ce8551e43ed2d6e45d09c7861
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152524.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9786f7f70e65e8a27711f1808467e8e5e317dd4369c7e29058d464c3d5bd0de0
+size 791089
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152527.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152527.png
new file mode 100644
index 0000000000000000000000000000000000000000..5818949233b56c57cb8741d373973e305bf4b26d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152527.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbe88431da63cb1885295e4d2000f5d2b994093a12f94bfff634d357979ae69
+size 786740
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152529.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152529.png
new file mode 100644
index 0000000000000000000000000000000000000000..7ce6cba58d7e70caaee5fbdb30996d7d5b642a70
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152529.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92894e5d55c631ebd42d5ba54fa6d1a913a1b65e2a3523a85b05fa0a3d0e4ba0
+size 780896
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152531.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152531.png
new file mode 100644
index 0000000000000000000000000000000000000000..f20599db878314b96e559baffeb6eae14a3e19f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152531.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799027410a1b71febf919594738d7fcb29c1b29d12457ea69a458cd036e0c602
+size 776226
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152533.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152533.png
new file mode 100644
index 0000000000000000000000000000000000000000..5147af2fd2ad3b73115794d080cc512bad487688
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152533.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:375a06102a1f0a13b8b6d7b48141805d48f48e75e9d7c10e4188c38fb58c5f2b
+size 774939
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152536.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152536.png
new file mode 100644
index 0000000000000000000000000000000000000000..f3a5c23f69802567ea858783158ebcfe1ae564c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152536.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790f4c13abb2dd0f3359843b1aacdc565669f2388cf2dc2e458dd761bd64546e
+size 772468
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152538.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152538.png
new file mode 100644
index 0000000000000000000000000000000000000000..145cac050dcef56fb7e45370ceb37ba7ea8b3375
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152538.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d71b1c8138a4f728ea9b076826e2dd3fc9ce974f3bd868bb90e83a15da8552bc
+size 771509
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152540.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152540.png
new file mode 100644
index 0000000000000000000000000000000000000000..bdc92e6b95146ea06e96fd0e3e6705bcd60523e6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152540.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c950231fa2a3155d3ae828c7455e2056260da528b38790f5bac0d0b30fb775ef
+size 769986
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152542.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152542.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba98b0fd907b0d9167e1f20fb6018eb0bbe28b5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152542.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f03d4604d1578674dc19142b7f4b35261529b21536512a228506fbb0150549
+size 765527
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152545.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152545.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fc7ca40cbda719e685b0bd48aa22fd047e1aa73
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152545.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a323168a3ecc67f9fa16e07e473a012b1326756be538ea2279c3839e3ce7bf03
+size 762489
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152547.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152547.png
new file mode 100644
index 0000000000000000000000000000000000000000..0504b92f2f5ea5045e1417a6bf833d556c5f27b9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152547.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dedecd0f4a1401d5a8f090665131ab5d10cf9f3d611df9281233fc51fe36fb67
+size 760249
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152549.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152549.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb17fa886b31e655d7fdf6a04dec2251ce0571aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152549.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9788ff9b07dc6a38a3c856e8b3fff32cab61c381d12ee723f2cda5fea8736156
+size 766725
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152551.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152551.png
new file mode 100644
index 0000000000000000000000000000000000000000..634238f57a90b748e45a3f3e8cb9c48916d48879
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152551.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2932b574b7117ad74fa3abeb9d55f599e1f35c72e05c8b8221b8a4d140d6c5dc
+size 761362
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152553.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152553.png
new file mode 100644
index 0000000000000000000000000000000000000000..29ca83c6b3c89030e3ac1e11c76ac824bc35b1da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152553.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07721386be3415155a5d4181b7c603c3721c495183a4f7c540c25959f367e64b
+size 761206
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152556.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152556.png
new file mode 100644
index 0000000000000000000000000000000000000000..f66231131b00481927a0fd8fc98fbfd9a6b85b1e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152556.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:601478b10bd2a57de86b836ef8a38a8d68126b89b9885d86c22fa929f2d56a51
+size 764788
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152558.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152558.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ecc451b2c9deef84cbfbfa53021ac74bb791fa9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152558.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6a25046b6efd58d15daa972c7744936c56c7480a825a5275d3b72e050f1b2bc
+size 761037
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152600.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152600.png
new file mode 100644
index 0000000000000000000000000000000000000000..143adca4007bd97ef5c01a8fb4a965ebd1ddc70e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152600.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c58f3d373b461aaba46b33deb15d6d1b47685d1910cd7b5abdb14f52c45bde2
+size 758401
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152602.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152602.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1d79aca7f7368102a8f73942f7bbbc8f0e75ba2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152602.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ca7e386b9534b085736f4dd9970093953a26c8c81d56b3d58075f76fdee7425
+size 766734
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152605.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152605.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7ab40edc0689e36f40b7f0cc63a5ba1bc119993
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152605.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3881f2899f77890f2b01d0a695637bce6b04d93de297b491a3f52240823a0b8
+size 765064
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152607.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152607.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0c155291ffeca9e78e71d6443057be15fc2bd72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152607.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb5a91d8c87af4ad8ea0396fd35d7c56a2d61d45087c87fc1bdc55228a85bf1
+size 761244
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152609.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152609.png
new file mode 100644
index 0000000000000000000000000000000000000000..a008c616a14de82de94f0221be955eaca3a353f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152609.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2d007758ebf6f8387a86888e210dc4ddc7cab085555dc6baa54f2ab235e61cb
+size 759598
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152611.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152611.png
new file mode 100644
index 0000000000000000000000000000000000000000..0af250b6dcdb72da211eff82a5b1e9d2b72d77bd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152611.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5858ce651571289c1ff269122fb0c2f8dded3ef3ff949f88f36b108db23a96f5
+size 762018
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152614.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152614.png
new file mode 100644
index 0000000000000000000000000000000000000000..69697e51ec008867f22e991a0339f853afc9b92b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152614.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d65d90ab518bd5d98ad4e4c0cafc199083ad3d9e117a4056076bfc94aeeb3c
+size 760733
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152616.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152616.png
new file mode 100644
index 0000000000000000000000000000000000000000..6bf854f0346f14bb82d3be16329557b3202e01be
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152616.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c92129dcf00a55433bd5a5aec43e82a279076883e34ff71f67f1746a2dfe68
+size 760358
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152618.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152618.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef0d46582c63d6b6098706f0a5b0f821461b88ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152618.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d70ef2649c4cac496a4c51a005dbf57ea14548821bee55178a2e072fd8f68c
+size 766860
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152620.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152620.png
new file mode 100644
index 0000000000000000000000000000000000000000..7921aac5c73cf5f383fa76e071a7c52761ac78b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152620.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eaa41be9d0af1ed7c5044fa695a318f35acc05fc4ab95674b6a0aed314db002
+size 770277
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152622.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152622.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bf754cee9d1e1ecac58421140ecd596b16e1831
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152622.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79a166f7f966a934fa3d7621ec716ceab454bcb82313b5753e47b50d2c13bba
+size 762688
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152625.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152625.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a9723a7c3a16ed0426bfa194facd131eb1d0b04
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152625.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96ddad5dbcef80c2657f5850a0c0813e57a86a9006b5e607c84a1592bc0a804f
+size 753612
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152627.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152627.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c46b45469ddd1eac3024ea6ddaa682e5163f5e7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152627.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e743146dce7af763578314cbbcf3707835ae36bcfe74702aafad70f502f439
+size 750602
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152629.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152629.png
new file mode 100644
index 0000000000000000000000000000000000000000..779c0ff7b59df19483dd68c6328452117c67e01f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152629.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:943e2a64d3c48cd7d148a12e719799a7a6cc65891fb8cdd1f4b5e41e553aeb40
+size 751821
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152631.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152631.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ef5354d5b4f105822f468a7987b66e0efd44559
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152631.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:325d6c38892b1a23a7cfefd76eb9d5b8a53b904006ed1bda63e6d84183c1711d
+size 752176
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152634.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152634.png
new file mode 100644
index 0000000000000000000000000000000000000000..c698e9e7015906076ef60a6ad7d17c4493652ade
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152634.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae6a4c199eafc17768d5fd6efee898735df94acb379e2610b147ebe6fc20f5de
+size 758350
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152636.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152636.png
new file mode 100644
index 0000000000000000000000000000000000000000..07bfb832a519d477b0910143f19e8a6ca1aa344e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152636.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae773cdc6b61163723abd7ac7544f867b93e224be4ecb54af31f7e6434e3a93
+size 769722
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152638.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152638.png
new file mode 100644
index 0000000000000000000000000000000000000000..240d4bb5ff9437827ac2034f43065a6d8ea7c514
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152638.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cabd778506f28a728456791e053045f1edbe434ca4e45f1ceb02cfada3b3644
+size 791542
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152640.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152640.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e96c7f85c36b583f77e9020c3b73db70ddb439a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152640.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58a17bbc9d27b0da57468016708f8256b5dbb27e85bb058d056a2e60d051e225
+size 796311
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152642.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152642.png
new file mode 100644
index 0000000000000000000000000000000000000000..6381730301f79332610e7ee2db5e646a85034e72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152642.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f0ffdf15000c78467dc4669738dde19b61410e9470d7d0573e41a15676c1746
+size 794307
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152645.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152645.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7ffef47b424ebd831dff5c976dab375831b38f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152645.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d322cf0113acf0893457d6754edec1718c488a0a948621b06bec2b69f2cc4b3b
+size 803154
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152647.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152647.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d125f18a2d4481f452ef3e13668915fd1109c76
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152647.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2e566c27a98675f653c3f2b18524be75b5a4feb7386951665cb9ca9bf3a063
+size 808607
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152649.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152649.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc835f7d184ce446579731cc920a0bf4c1e205ec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152649.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d2af48b22d012e2fe023434ff5d17d80ef822c3e16d5fdc978c650e9d4ce640
+size 813388
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152651.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152651.png
new file mode 100644
index 0000000000000000000000000000000000000000..c29624e906d81d13c15733bf546327bafa96d4a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152651.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa17271f4f7896906f9c40e2054f5f9104c4a95bc779de8ef7528b268e3be9ae
+size 802031
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152653.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152653.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd4f0b86b2b0aebb3beca921d5670892ecace087
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_15-25-3_1588695568/20250116_152653.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75994eddcff51512751974cea469418056725eba90b1395901aeb9c87dbb4b30
+size 829854
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020019.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020019.png
new file mode 100644
index 0000000000000000000000000000000000000000..7994ec7afe9bb79d68707b29c3f4a04771341088
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020019.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a314ec678bba44cb1a8bfcec00d7a25bb8c7f781847046facc9177a7d2d8aea9
+size 614259
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020021.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020021.png
new file mode 100644
index 0000000000000000000000000000000000000000..db03dfae3a165090f6df1803cd92e7c84272c9a9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020021.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fff46e231916a6942e8c20cf87285cfe386276de1cba670c6f9dc8c522faaa
+size 801290
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020023.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020023.png
new file mode 100644
index 0000000000000000000000000000000000000000..618d541c136dbe0005d5602df0ca155b7a523a3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a760fe662e6c9d19e96e459eef2e6268d90b1bfe76267cf794664a3153bf9000
+size 804421
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020025.png
new file mode 100644
index 0000000000000000000000000000000000000000..bcc5c96ca1250a61699a7cee8108b73291cc95c3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4521e5369d579d2e3039cdf7918bd344eb736c2c81b9c2461616c5fe586e62cc
+size 820542
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020027.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020027.png
new file mode 100644
index 0000000000000000000000000000000000000000..a3e90542aeda06dceb30d05a405d2e883f589e4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86663bff34c638f6194432d821406f86228d466b21f5d97107ec72a0925c5def
+size 839099
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020029.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020029.png
new file mode 100644
index 0000000000000000000000000000000000000000..b13e74f4c79c13be45778f591d3bc783092ee1c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bf93f50f61bdeafb20955b777be21889dcec5e2346ed0dd28952c3669da3096
+size 842070
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020032.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020032.png
new file mode 100644
index 0000000000000000000000000000000000000000..88c776048a9e341280fe81715fd569a0a0dbcae4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020032.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cae62f8287221a28f45da4a2ad60ca519b5e58f579194278145f87fecc37d0
+size 847986
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020034.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020034.png
new file mode 100644
index 0000000000000000000000000000000000000000..50b94616aa691c69e222fa0211b79af85d601772
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eae41555de0a1bfbccde60ffcb1f2fd0c7652e9d4b228670db126969d6e9d99
+size 848849
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020036.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020036.png
new file mode 100644
index 0000000000000000000000000000000000000000..d95eb11fd150f171cff4f451d8fa95df1257c040
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd41f7952b9c4a7b164227737d3eb4409ba1a83c64fbd8f44d97507a8581932d
+size 848884
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020038.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020038.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad3e61e4a07a6d99bbcf6d13fc4ea3d3b3666ee1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020038.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4165ed4720748cb57507a306947b0759b2b2df261a0813b909b6a23a706671d
+size 845314
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020040.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020040.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fd9a1f8f010496d5fc1469ea2f85e695c2ce546
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25ce01103f7170648a47fb5049c890c7edc77f70161706712e4186c8efc915a
+size 844948
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020043.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020043.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a5f3f0889f39213c955f7a969acb3fd0074ff56
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020043.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b994c007667f17a393ef0928f58e22225c464764549f91be7825c7ffd325fc
+size 842542
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020045.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020045.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee54c75079d5b2e714870833f3b91a30137f50fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020045.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a1e84ced7904ebb03e146f8d328c433e851941df33747b80a478991aa64338
+size 836726
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020047.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020047.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebe64f18eb96c6822dd6e4487db4fcb935afffb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020047.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363cf170860ad4be4544a2bdeef198dd94f3e599c8878a142c822ea763308484
+size 828364
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020049.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020049.png
new file mode 100644
index 0000000000000000000000000000000000000000..8bee802bd71e29c0ae397d29545a0c5301bde9de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020049.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e9e80eac5ffe112ec4d524eeac54f0c60648898886d81f2c51f92fa6c1b007e
+size 816117
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020052.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020052.png
new file mode 100644
index 0000000000000000000000000000000000000000..e92db90aaf7a8c4e6b5553789029969a14a2d0dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8950d16f78115ccf74d90487997d9068e1d20e20ee5338aa2c3ece0035d2039
+size 821215
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020054.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020054.png
new file mode 100644
index 0000000000000000000000000000000000000000..fad319a1841347b11c87549e70ea97c3ed46cfcf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020054.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38d6389a195a62109086e458dcd8b607fccb4bd620f7d0c6c28aad7b76f84f13
+size 830451
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020056.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020056.png
new file mode 100644
index 0000000000000000000000000000000000000000..593bde57b8fac710ed0075e17f0b8361bcf64eb8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020056.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e599efeb07f8b60d25babd09da5de16ed70a709336213a84634f1f0340d459ac
+size 830678
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020058.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020058.png
new file mode 100644
index 0000000000000000000000000000000000000000..bef82d1e97f3c45b8d057d29e565ef2fc2c98009
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020058.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92febcc0d63f78c57f7ded0dbdd47b1aa80758a969bf544eef7a903b47f94d56
+size 830608
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020100.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020100.png
new file mode 100644
index 0000000000000000000000000000000000000000..b37bde03123381d24368db7c58e99d2c004ff0a2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020100.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be670266e6175aa99679149ec2079785f767ac6bb7ffdf62521ccd18f416c73
+size 829504
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020103.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020103.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d72948a9eae82ac5b83649eaf6d01fcaf18d046
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3be8ec84cbefcf00bcb5f3184ffc1fdf940d137fd00189fb4d3458441d9caaf
+size 831500
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020105.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020105.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b68a263d9dcf5f9d333920c2a7d0283e3a5bb41
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e238b71810ba6522bc61beee9271a8bb26b446721eb100baba2b867b786133
+size 821960
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020107.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020107.png
new file mode 100644
index 0000000000000000000000000000000000000000..34126cd186cf1983ada32dd8c33282382cd4b3af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020107.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c161aa3881460af6a4fc017d5e163d9b4d6d18f9fdbf3c6af91e66acb614760e
+size 818253
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020109.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020109.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5edd99c25d40d154589e2eb6f5033a49711a084
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06f7df8053593551b899f3eaeaa5dd8ee4867b99beee57c1982b5293a6e284d
+size 801382
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020111.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020111.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac07f4fd3d4c70a308cc9b389f86c24b1ce0c2cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020111.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ce7f8f88e90761c5282e882b415fdb0514d62ea816aefb5b4b0e093788a026b
+size 804499
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020114.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020114.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f168375974e34d8cecee0692c84663da96e2536
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_2-0-15_1610009097/20250116_020114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91540647727a1f8ab522917f99ac88b9ecc4c35c9f15a2ca4390495e8ea98659
+size 625100
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032012.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032012.png
new file mode 100644
index 0000000000000000000000000000000000000000..4150509b9467698903ae771a89a9e4938df26230
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e63a5a67961860886791efec7c30231892eddea1861fb04a9d5795de8d6ca2a
+size 658232
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032014.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032014.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf94d449b87c5f8a4a649487f68c4aece897aaf1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939f9177a3acc3263e1a5c3f953b079d396cb6c8a678773d723f802aeaadab7a
+size 643454
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032016.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032016.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac5bf1362946edba6c17f850978231cc45aed31a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a44db7de3b2fa206c46312820e961f87d63b5b2766fa124b831b417ae3da047
+size 689282
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032018.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032018.png
new file mode 100644
index 0000000000000000000000000000000000000000..73a3cd997cb3c7f983b87f90957512d7f24a11ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78f82325b7440f9e4c8f76165dd99a20819e30abe32aefd9986267687752cfe
+size 684460
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032020.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032020.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef120798c06700701d19b61e29ae72d9bd26fd2f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19144caecfa69748032ff570dfd47df939c3d1aca1a9c980bfab0f3141774c0e
+size 684076
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032022.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032022.png
new file mode 100644
index 0000000000000000000000000000000000000000..f92ad879dcd58513327508904b8fdf021be11657
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd78da9dcdae49eef91d2903cfce6209c359b06b46ca0f374acc0a9a4f6923f
+size 687845
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032025.png
new file mode 100644
index 0000000000000000000000000000000000000000..d591abf1f568cb7af30c054041bc1c9b57971ecc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c286f83b19467e8b3001ac7e6777f766b4a130f70cf5bbb332fb89111b8430fa
+size 688519
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032027.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032027.png
new file mode 100644
index 0000000000000000000000000000000000000000..66607de5686c953fdc2fe05f935f31aea79ebc42
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dc7533f23812fbba9598a95ea1c287e4711ffefdefd2fdc47a07de11b24a140
+size 692527
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032029.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032029.png
new file mode 100644
index 0000000000000000000000000000000000000000..d41955a2596967d2278f1a08716701dbdb2742fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac3b49c1920df0d8fa3bac7d0bc7a58322fdb5860b82a14fe44fd72890863e0
+size 695014
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032031.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032031.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b2b3f31b3350218bd38bf2281c51ea6870315b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ffb7b7040cedd4e90a4910016e5fa96fbb7f743552f808e479c0bd6ef7b059
+size 694205
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032033.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032033.png
new file mode 100644
index 0000000000000000000000000000000000000000..12bdb8660ee52bcdea7e9c1dd349b343ce953ada
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b4af2018f305155b5863f1d050a8339b9d9a3bcbc063a4113459fab8bfa58c
+size 691485
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032035.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032035.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9abe7256772f749ee9749e52549fe8d6aa879cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d02b34d4e2c4c67cd5e61dd02c09b1ced4878b5a23edc4a0bdf2db2d64a642a
+size 690888
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032037.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032037.png
new file mode 100644
index 0000000000000000000000000000000000000000..a377d946847c3b6636da8882806c6daaf9d16694
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4594c41dfa23a6c7efe5040f0007dcb7b8ecf720e2ab6e3fe00a87c1e4aa957
+size 688683
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032039.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032039.png
new file mode 100644
index 0000000000000000000000000000000000000000..6eb8cbef1c3b2d5183139dac58f55caf90356630
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032039.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4487a58bfded98ab4da4972551f1b6894eb6254eadf8db68991d320df29e4d5
+size 688557
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032042.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032042.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aaf84112a3beea8af094f58ac94cdaa72f7eed7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d677cfa5fc3f5359d7f5a934f3241c21c79aee42208069b9509a749d38f2e463
+size 689246
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032044.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032044.png
new file mode 100644
index 0000000000000000000000000000000000000000..481b2896d71b7b92919b56cdacb61371435e6d4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b016f622e6c912080d6a62b6304245aab270b6d96490b5922a426f0a1792c7f1
+size 689366
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032046.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032046.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b34a2a76148c5880e42c20de0b16a02ba1652a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5934dffd856c907b7f7f1219e530085ac1ace0bbd6aa66ff68d102094bec0735
+size 690025
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032048.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032048.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d43d60865f869376d946b43d1bb14b03a382e88
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c313d2e6365d9bc245c9649f7c7d38ebb82a4ef57714ae86a98514c5eb9900c
+size 691888
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032050.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032050.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a72d5355f71c55e26a0a559fc6f7a45b6d88f5d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:832e611606c78686fcabf98b412e49c8e061ea81c5836262291c5c9c8badd2d1
+size 691213
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032052.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032052.png
new file mode 100644
index 0000000000000000000000000000000000000000..95be0b00ba91c57c4f1d23865eae1231bce2dd92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938297138e0a8f27bfb1176ef8bc53eb444b80369f900eb18fa8fb9d9df55ca5
+size 690227
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032055.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032055.png
new file mode 100644
index 0000000000000000000000000000000000000000..282970466ba90686164bf44a9e18581c8373d9d0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b113c98c79e80d0a4817d6ad4d959b9c1a22fea2489546004b0ae081b70fa197
+size 690620
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032057.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032057.png
new file mode 100644
index 0000000000000000000000000000000000000000..7337c4a22e6898df269141b7e1f940ecd422415e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e293d4ef4af72b360256ed976727cedcc78c70aa523e9b2c87067534d7abc5
+size 695511
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032059.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032059.png
new file mode 100644
index 0000000000000000000000000000000000000000..07f3c4e3a5ce8aac9278653e21fdb4bf1e2f0c3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b5e2eac94e599c19c18fc2b0b9a5552dfe907f5d32f7440a66b558bc9c80926
+size 696789
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032101.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032101.png
new file mode 100644
index 0000000000000000000000000000000000000000..8959bd071abc3d054b01aa7654afb294378aa854
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032101.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d80cab0bf5f6b3d8dbaadde27bb2dff61a5d27f7c088f2ed4c533babeff738dc
+size 697460
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032103.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032103.png
new file mode 100644
index 0000000000000000000000000000000000000000..94190c2fd2942ef1fa97b77c730bc5aa8d4a45b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fc549aeb10184f396ea7179af9917b73516d7943881fd4dc7673e80bf3c22f7
+size 696959
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032105.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032105.png
new file mode 100644
index 0000000000000000000000000000000000000000..a581a285384449093c1a28b3b488018036148ac9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b0d20d7904be1d363a131825aedf926448cb3b800efdfd0f65c91929a40127
+size 698072
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032107.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032107.png
new file mode 100644
index 0000000000000000000000000000000000000000..72241b9f1f4bd330258b9f5ea98258f9c74c246c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032107.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d775e8049e7e884d8d77917dde4335a3982168583012425cac2025b540be3e6c
+size 696757
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032109.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032109.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cb5f6df4b0e99717c88a19b48e183cd4a7f50b2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032109.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e0772bbf8c004c25e2e99277d2496569853225cf96ca189dd24f9e28651c302
+size 695011
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032112.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032112.png
new file mode 100644
index 0000000000000000000000000000000000000000..e97164692e21a14acf65c61e3e9acb83305e166d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032112.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:536f634fbf0098ffbe17f3453df98dbdfd3ed276f56a0526e8ed0177a39dc0e9
+size 694895
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032114.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032114.png
new file mode 100644
index 0000000000000000000000000000000000000000..783ed773a2a8f34db8baede0385a087ab211844f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032114.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b56f7746ba79254a741097b0b794efd969b0208d38d740ad484460d45e82ceb5
+size 693523
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032116.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032116.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6356921f0ab0773641647c9a0b05037dda07524
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032116.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c705b96e0fe16a5410d92c97ba8a5e89c935e5003a0d4d1c02d27d8d280118
+size 694840
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032118.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032118.png
new file mode 100644
index 0000000000000000000000000000000000000000..36d56f7df0edece37850e772ed744ba8815fd7a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e7af440066e1774a07c7db871e28b6fb34ed191c3942060d42a52f00f193c2
+size 693225
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032120.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032120.png
new file mode 100644
index 0000000000000000000000000000000000000000..669e6fae42c29eb6bc370cc42b77c62f4fc3420f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032120.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d111cfda22edda4464466dfc3ac7433a0b6920fc7913282df68ca8a4158503
+size 696084
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032122.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032122.png
new file mode 100644
index 0000000000000000000000000000000000000000..47534ca334f5ce4778bf0e432c8c046b3bb48734
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032122.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28981ff2c5676b30a831550fa1a6aded0e8b5810edea6cdff72e6e2e092d9fb2
+size 702037
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032125.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032125.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d5c471f49e7f9bb5bca2d26020c79dad3a62f28
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdcc09f98a178cfe8a4500bc8803cf2f1193ae95e8ff49f44be8b079ce35531
+size 704999
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032127.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032127.png
new file mode 100644
index 0000000000000000000000000000000000000000..d18402db73ff10b45f19f7fcac479df67a8af717
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032127.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5a9261732e512f6d381b4620e12e535fa3cd2a0f418d2a054f0075531515ca0
+size 708313
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032129.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032129.png
new file mode 100644
index 0000000000000000000000000000000000000000..351edb595198cbe8c39fa0357ab61384d0320587
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032129.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11196b3767d277520e703a875182e0efa8eebab056be264d245c71e3d6cf91d1
+size 706005
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032131.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032131.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca7256291cc9ad41fd7f256cf2ff7fbd925ee7d4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032131.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3e096fbb40444032d118eed563335e2c038068ec4e131535229336b1f2cc598
+size 711804
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032133.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032133.png
new file mode 100644
index 0000000000000000000000000000000000000000..30bc5883cfa4bf9226917f502e6fd31c1752eb91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032133.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6d1bff440b3317e42a57ae812000a3cb5f97fdad3128fda9a9bfdb000f8843c
+size 708925
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032135.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032135.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d62aaddffd7f6914335582bb1f0f4219b15f11b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032135.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f114a1742cd350b7c0bd695cf1de22b897e09a91554dcce7058ba78246c40d8e
+size 711272
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032137.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032137.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a03aa72d851b673d669a7ceb662891bf67ff39b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1f144f41fd4201f73ce8eba8ff2afddbfdd7e7d35123a71821a88e9a5920736
+size 712078
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032139.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032139.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d01d6becf20006ad4343b9bbd9083d46991a6c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032139.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7d24f6454b7aec93a78b00a4725b7899ebbfc7a2d76df8f09f13f20f02d7db
+size 710480
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032142.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032142.png
new file mode 100644
index 0000000000000000000000000000000000000000..f029e627a29a5184b3068e82f33903f10cc29cbd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032142.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b4606670cd9ad832b007a4a03964bb93b57b9e00a6402eeb4fa99ce90c2d98
+size 717735
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032144.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032144.png
new file mode 100644
index 0000000000000000000000000000000000000000..34660768b19986b2d570fb4c8faf936bda739227
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c2b1ccd851c9feaa5c6da595dd404af48030c4f17832a6a1c71add127c5f2a2
+size 719278
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032146.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032146.png
new file mode 100644
index 0000000000000000000000000000000000000000..29b00043aab5655150764222872881f175332824
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00833c4ae1594e10c534e6caad6663d2038b5a3c907920b451a1e06adfbd3b08
+size 730560
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032148.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032148.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e62d4dc6fd2c2a348f2e03776b9a4de4db89c5e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:036fd09b7e75f060befb7db0f31a9562469aa6f417cf12d45ad4d58ba8675d20
+size 768185
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032150.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032150.png
new file mode 100644
index 0000000000000000000000000000000000000000..f69cecda674f7d9f0ae2662d9288b023e695ec5e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89727ca8b9edbb750e50060816afdf1600412458d97334bf2c0c2a064c4ccb8f
+size 771976
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032153.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032153.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d03ec4135502d128ede9a95e8b27bc2596c6298
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032153.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b0d5081721e62ec1b8c3450cf94e2b6df3b42554a2f79ac63d30e79efc240bc
+size 770855
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032155.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032155.png
new file mode 100644
index 0000000000000000000000000000000000000000..9295609943b955b37972dc932a19693bab11998b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032155.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f018657c4816e63868b8dec8231ee9f1102f78f32e1b4b2f13840f8b006803da
+size 766949
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032157.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032157.png
new file mode 100644
index 0000000000000000000000000000000000000000..16bb2d74ac2a9b24fdef068079d3529bbeb2abcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032157.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec11d05208dd3a1b9e09d6b06c61ed292801d1fece754caf78dae9e1a9b2f6cc
+size 757110
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032159.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032159.png
new file mode 100644
index 0000000000000000000000000000000000000000..06d9abcb0ef0b4ef4ddf432e449800267d22f7df
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032159.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f297271f7f4fc8501f39433fde2252cee069382010f3b24a0c668a7f0751ba2f
+size 759494
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032201.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032201.png
new file mode 100644
index 0000000000000000000000000000000000000000..4a6bd657fb6b745a6610383672375496aafabb48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032201.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12f8c982a2b20e833c71c3cf964ca0cebb7fc1694d9a8a9d814f332217e1346a
+size 758868
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032204.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032204.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c1df97faa446825bb7da9e77833ec9e4ae2594f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032204.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c21c82b79466852e6fc0dae36a363a28184145f2a287fb1dd55b3ac34f3548f
+size 757437
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032206.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032206.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bf460ea37c7177a3f344daf7ae4198b0de6f47b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032206.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2559158b0651f0916c114b8865e611042f66ed7cc019fb289bd97b6d7445d969
+size 740164
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032208.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032208.png
new file mode 100644
index 0000000000000000000000000000000000000000..e943614627c204ca186c1e4cee9837d3abd2f9ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032208.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2203c474da4a2cc5cfed2e1c8695d2283ce3ed7103935acefb0d7b41f2e1d36
+size 715314
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032210.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032210.png
new file mode 100644
index 0000000000000000000000000000000000000000..e53c1329622cf4ae34978dd6c95ade6b5363e22e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032210.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d815852a385ec965afc2249c9fa8ebeaf5a8a32c165a4d864a2476b43b649cd
+size 686218
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032212.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032212.png
new file mode 100644
index 0000000000000000000000000000000000000000..54a4e45f4b9a61bb19195e96a1b1ca9ea6cbabf5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032212.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de402ce11d7df88471d5848862f86966f934a28d40efa54881da9d9538ea2bd
+size 663072
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032214.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032214.png
new file mode 100644
index 0000000000000000000000000000000000000000..92c1127279a05ef5ef0e77d4a2a2884d3f110a54
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032214.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55ef7ba205d85858e3f264835d9b1dfa720b1ffac702c4ac571448460ff32034
+size 644507
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032216.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032216.png
new file mode 100644
index 0000000000000000000000000000000000000000..2962dc0ee6675c0b34b161a79057c4a695ee58cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032216.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63a6202d8c36449c233e553baa8300c2970540b9bb28c56b742765df9ef78dd9
+size 650236
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032219.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032219.png
new file mode 100644
index 0000000000000000000000000000000000000000..835f1755c94b5ca6aff530c4e8d6e8e64e7dca0d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032219.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73855db77d5d0ad8f00190fd9b55e42e21a2bf3a347477c594b2cc31ad4bff88
+size 647586
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032221.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032221.png
new file mode 100644
index 0000000000000000000000000000000000000000..e69a20e15ce96ca9cf6bbd446776ee2305f27ec5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032221.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd767b246af6f77671ef075d1fc799131b68d3c6901b2439b0cf1c70b20dd821
+size 646866
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032223.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032223.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ddc7161d44087d8d34792c35139b9e5d3c7deed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032223.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f98d2194ff16d0de3394b74a3d5c7a52b1b4239b3ec03ce452e438a0fd69da9
+size 660367
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032225.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032225.png
new file mode 100644
index 0000000000000000000000000000000000000000..c498415b063d5db3bf3d5ee7eca50b9a9a7cefd9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_3-20-8_1000372555/20250116_032225.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3942ceccd8223460002088d66ebfbae1fde992cc8b3f3a74948bfc7a6756e848
+size 708991