diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-18-05_689704/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-18-05_689704/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40b2e1ec1ddfe3e0b041e4a40b1ef5282afb8111
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-18-05_689704/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            2.29258061458944,
+            -279.58537752929954,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            0.7925806145894405,
+            -276.9873013179462,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            0.7925806145894405,
+            -276.9873013179462,
+            -23.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            0.7925806145894405,
+            -276.9873013179462,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -0.7074193854105588,
+            -274.3892251065929,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -2.2074193854105584,
+            -271.7911488952396,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -3.7074193854105575,
+            -269.19307268388627,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -5.207419385410557,
+            -266.59499647253296,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -6.707419385410556,
+            -263.99692026117964,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -8.207419385410555,
+            -261.3988440498263,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -9.707419385410555,
+            -258.800767838473,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -11.207419385410555,
+            -256.2026916271197,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -12.707419385410555,
+            -253.60461541576638,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -14.207419385410555,
+            -251.00653920441306,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -15.707419385410555,
+            -248.40846299305974,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -17.207419385410553,
+            -245.81038678170643,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393195
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -18.707419385410553,
+            -243.2123105703531,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -20.207419385410553,
+            -240.6142343589998,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -21.707419385410553,
+            -238.01615814764648,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -23.207419385410553,
+            -235.41808193629316,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -24.707419385410553,
+            -232.82000572493985,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -26.207419385410553,
+            -230.22192951358653,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -27.707419385410553,
+            -227.62385330223321,
+            -20.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -27.707419385410553,
+            -227.62385330223321,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -30.30549559676387,
+            -226.12385330223321,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -32.903571808117185,
+            -224.62385330223321,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -35.5016480194705,
+            -223.12385330223321,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -38.09972423082382,
+            -221.62385330223321,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -40.69780044217713,
+            -220.12385330223321,
+            -20.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -40.69780044217713,
+            -220.12385330223321,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -40.69780044217713,
+            -220.12385330223321,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -40.69780044217713,
+            -220.12385330223321,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -42.19780044217713,
+            -217.5257770908799,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -68.0,
+            -184.0,
+            -11.2284
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-29-25_848143/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-29-25_848143/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0a516d9d61c5bd2217447f02f66d12337344d88c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-29-25_848143/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            822.2123210256343,
+            1281.730255908354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            823.7123210256343,
+            1279.1321796970005,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            825.2123210256343,
+            1276.5341034856472,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            826.7123210256343,
+            1273.9360272742938,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            828.2123210256343,
+            1271.3379510629404,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            829.7123210256343,
+            1268.739874851587,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            831.2123210256343,
+            1266.1417986402337,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            831.2123210256343,
+            1266.1417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            833.8103972369877,
+            1264.6417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            836.408473448341,
+            1263.1417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            839.0065496596944,
+            1261.6417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            841.6046258710478,
+            1260.1417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            844.2027020824012,
+            1258.6417986402337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            846.8007782937545,
+            1257.1417986402337,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            846.8007782937545,
+            1257.1417986402337,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            846.8007782937545,
+            1257.1417986402337,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            848.3007782937545,
+            1254.5437224288803,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            849.8007782937545,
+            1251.945646217527,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            851.3007782937545,
+            1249.3475700061736,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            852.8007782937545,
+            1246.7494937948202,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            854.3007782937545,
+            1244.1514175834668,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            855.8007782937545,
+            1241.5533413721134,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            857.3007782937545,
+            1238.95526516076,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            858.8007782937545,
+            1236.3571889494067,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            860.3007782937545,
+            1233.7591127380533,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            861.8007782937545,
+            1231.1610365267,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            863.3007782937545,
+            1228.5629603153466,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            864.8007782937545,
+            1225.9648841039932,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            866.3007782937545,
+            1223.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            866.3007782937545,
+            1223.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            866.3007782937545,
+            1220.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            866.3007782937545,
+            1217.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            866.3007782937545,
+            1214.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            866.3007782937545,
+            1211.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            866.3007782937545,
+            1208.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            866.3007782937545,
+            1205.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            866.3007782937545,
+            1202.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            866.3007782937545,
+            1199.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            866.3007782937545,
+            1196.3668078926398,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            866.3007782937545,
+            1196.3668078926398,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            884.0,
+            1160.0,
+            -30.1697
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-48-47_548944/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-48-47_548944/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0b3002182bd2f16be28a4a539c7de574c733c71b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-48-47_548944/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1998.2269655237094,
+            929.0554060796003,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1996.7269655237094,
+            926.4573298682469,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1995.2269655237094,
+            923.8592536568935,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1993.7269655237094,
+            921.2611774455402,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1992.2269655237094,
+            918.6631012341868,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1990.7269655237094,
+            916.0650250228334,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1989.2269655237094,
+            913.46694881148,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1987.7269655237094,
+            910.8688726001267,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1986.2269655237094,
+            908.2707963887733,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1986.2269655237094,
+            908.2707963887733,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1984.7269655237094,
+            905.6727201774199,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1983.2269655237094,
+            903.0746439660666,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1981.7269655237094,
+            900.4765677547132,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1980.2269655237094,
+            897.8784915433598,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1980.2269655237094,
+            897.8784915433598,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1977.628889312356,
+            896.3784915433598,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1977.628889312356,
+            896.3784915433598,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1976.128889312356,
+            893.7804153320064,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1974.628889312356,
+            891.1823391206531,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1973.128889312356,
+            888.5842629092997,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1971.628889312356,
+            885.9861866979463,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1970.128889312356,
+            883.388110486593,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1968.628889312356,
+            880.7900342752396,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1967.128889312356,
+            878.1919580638862,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1965.628889312356,
+            875.5938818525328,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1964.128889312356,
+            872.9958056411795,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1962.628889312356,
+            870.3977294298261,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1961.128889312356,
+            867.7996532184727,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1959.628889312356,
+            865.2015770071193,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1958.128889312356,
+            862.603500795766,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1956.628889312356,
+            860.0054245844126,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1955.128889312356,
+            857.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1955.128889312356,
+            857.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1955.128889312356,
+            854.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1955.128889312356,
+            851.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1955.128889312356,
+            848.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1955.128889312356,
+            845.4073483730592,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1955.128889312356,
+            845.4073483730592,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1936.0,
+            812.0,
+            160.906
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-49-18_874633/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-49-18_874633/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f62a6db437d4815ee2be4911c0c903cdcfbb953f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_22-49-18_874633/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1132.614859259566,
+            -16.83600238577182,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1132.614859259566,
+            -16.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1132.614859259566,
+            -16.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1135.2129354709193,
+            -15.33600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1137.8110116822727,
+            -13.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1140.409087893626,
+            -12.33600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1143.0071641049794,
+            -10.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1145.6052403163328,
+            -9.33600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1148.2033165276862,
+            -7.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1150.8013927390396,
+            -6.33600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1153.399468950393,
+            -4.83600238577182,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1155.9975451617463,
+            -3.3360023857718204,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1158.5956213730997,
+            -1.8360023857718206,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1161.193697584453,
+            -0.33600238577182084,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1163.7917737958064,
+            1.163997614228179,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1166.3898500071598,
+            2.6639976142281787,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982893
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1168.9879262185132,
+            4.163997614228179,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1171.5860024298665,
+            5.663997614228179,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1174.18407864122,
+            7.163997614228179,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1176.7821548525733,
+            8.663997614228178,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982892
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1179.3802310639267,
+            10.163997614228178,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1181.97830727528,
+            11.663997614228178,
+            -23.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1224.0,
+            36.0,
+            -29.3652
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-08-46_546963/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-08-46_546963/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..60d77dc2ff177ab187454e89fe1f040795400ab9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-08-46_546963/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1315.2405073480795,
+            395.6466498809817,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1313.7405073480795,
+            393.0485736696284,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1312.2405073480795,
+            390.4504974582751,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1310.7405073480795,
+            387.8524212469218,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1309.2405073480795,
+            385.25434503556846,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1307.7405073480795,
+            382.65626882421515,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1306.2405073480795,
+            380.05819261286183,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1306.2405073480795,
+            380.05819261286183,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1304.7405073480795,
+            377.4601164015085,
+            -23.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1304.7405073480795,
+            377.4601164015085,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1303.2405073480795,
+            374.8620401901552,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1301.7405073480795,
+            372.2639639788019,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1300.2405073480795,
+            369.66588776744857,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1298.7405073480795,
+            367.06781155609525,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1297.2405073480795,
+            364.46973534474193,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1295.7405073480795,
+            361.8716591333886,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1294.2405073480795,
+            359.2735829220353,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1292.7405073480795,
+            356.675506710682,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1291.2405073480795,
+            354.07743049932867,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1289.7405073480795,
+            351.47935428797535,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1288.2405073480795,
+            348.88127807662204,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1286.7405073480795,
+            346.2832018652687,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1285.2405073480795,
+            343.6851256539154,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1283.7405073480795,
+            341.0870494425621,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1282.2405073480795,
+            338.4889732312088,
+            -20.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1282.2405073480795,
+            338.4889732312088,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1282.2405073480795,
+            335.4889732312088,
+            -20.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1282.2405073480795,
+            332.4889732312088,
+            -20.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1282.2405073480795,
+            332.4889732312088,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1282.2405073480795,
+            329.4889732312088,
+            -23.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1260.0,
+            284.0,
+            -29.5371
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-31-36_444312/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-31-36_444312/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf31162f32be956784a89c8e1b5f17dfe9756473
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-31-36_444312/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1416.4052914777596,
+            542.0646789708277,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1419.4052914777596,
+            542.0646789708277,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1419.4052914777596,
+            542.0646789708277,
+            -23.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1419.4052914777596,
+            542.0646789708277,
+            -20.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1419.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1422.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1425.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1428.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1431.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1434.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1437.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1440.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1443.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1446.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1449.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1452.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1455.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1458.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1461.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1464.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1467.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1470.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1473.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1476.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1479.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1482.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1485.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1488.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1491.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1494.4052914777596,
+            542.0646789708277,
+            -17.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1494.4052914777596,
+            542.0646789708277,
+            -20.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1494.4052914777596,
+            542.0646789708277,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1494.4052914777596,
+            542.0646789708277,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1552.0,
+            540.0,
+            -33.4367
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-32-04_295068/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-32-04_295068/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c604534db264906b3be5833adcf3469ed69f15b1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-32-04_295068/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            732.3333711408736,
+            702.0108463138515,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            732.3333711408736,
+            702.0108463138515,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            735.3333711408736,
+            702.0108463138515,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            735.3333711408736,
+            702.0108463138515,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            735.3333711408736,
+            702.0108463138515,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            736.8333711408736,
+            704.6089225252049,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            738.3333711408736,
+            707.2069987365583,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            739.8333711408736,
+            709.8050749479116,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            741.3333711408736,
+            712.403151159265,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            742.8333711408736,
+            715.0012273706184,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            744.3333711408736,
+            717.5993035819718,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            745.8333711408736,
+            720.1973797933251,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            747.3333711408736,
+            722.7954560046785,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            748.8333711408736,
+            725.3935322160319,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            750.3333711408736,
+            727.9916084273852,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            751.8333711408736,
+            730.5896846387386,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            753.3333711408736,
+            733.187760850092,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            754.8333711408736,
+            735.7858370614454,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            756.3333711408736,
+            738.3839132727987,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            757.8333711408736,
+            740.9819894841521,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            759.3333711408736,
+            743.5800656955055,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            760.8333711408736,
+            746.1781419068589,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            762.3333711408736,
+            748.7762181182122,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            763.8333711408736,
+            751.3742943295656,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            765.3333711408736,
+            753.972370540919,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            766.8333711408736,
+            756.5704467522723,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            768.3333711408736,
+            759.1685229636257,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            769.8333711408736,
+            761.7665991749791,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            771.3333711408736,
+            764.3646753863325,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            772.8333711408736,
+            766.9627515976858,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            774.3333711408736,
+            769.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            774.3333711408736,
+            769.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            774.3333711408736,
+            772.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            774.3333711408736,
+            775.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            774.3333711408736,
+            778.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            774.3333711408736,
+            781.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            774.3333711408736,
+            784.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            774.3333711408736,
+            787.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            774.3333711408736,
+            787.5608278090392,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            775.8333711408736,
+            790.1589040203926,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            777.3333711408736,
+            792.756980231746,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            778.8333711408736,
+            795.3550564430993,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            780.3333711408736,
+            797.9531326544527,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            780.3333711408736,
+            797.9531326544527,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            824.0,
+            -28.3014
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-43-33_368395/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-43-33_368395/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1dd1a3910dd9c1a3144b80285e1ef34606c5c90b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-18_23-43-33_368395/pose.jsonl
@@ -0,0 +1,626 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            610.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            613.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            616.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            619.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            622.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            625.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            628.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            631.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            634.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            637.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            640.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            643.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            646.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            649.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            652.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            655.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            658.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            661.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            664.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            667.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            670.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            673.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            676.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            679.7019480834238,
+            757.3096043434474,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            679.7019480834238,
+            757.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            679.7019480834238,
+            757.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            682.3000242947771,
+            758.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            684.8981005061305,
+            760.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            687.4961767174839,
+            761.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            690.0942529288372,
+            763.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            692.6923291401906,
+            764.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            695.290405351544,
+            766.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            697.8884815628974,
+            767.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            700.4865577742507,
+            769.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            703.0846339856041,
+            770.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            705.6827101969575,
+            772.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            708.2807864083109,
+            773.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            710.8788626196642,
+            775.3096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            713.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            713.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            716.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            719.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            722.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            725.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            728.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            731.4769388310176,
+            776.8096043434474,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            731.4769388310176,
+            776.8096043434474,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            752.0,
+            780.0,
+            -30.1345
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-05-47_333371/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-05-47_333371/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..938b230cbed533e4dbbbe8c0c75b9d396e04131c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-05-47_333371/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            782.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            785.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            788.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            791.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            794.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            797.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            800.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            803.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            806.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            809.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            812.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            815.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            818.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            821.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            824.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            827.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            830.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            833.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            836.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            839.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            842.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            845.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            848.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            848.2810390515065,
+            18.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            850.8791152628598,
+            20.184147419068374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            853.4771914742132,
+            21.684147419068374,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            853.4771914742132,
+            21.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            856.0752676855666,
+            23.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            858.67334389692,
+            24.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            861.2714201082733,
+            26.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            863.8694963196267,
+            27.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            866.4675725309801,
+            29.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            869.0656487423335,
+            30.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            871.6637249536868,
+            32.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            874.2618011650402,
+            33.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            876.8598773763936,
+            35.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            879.4579535877469,
+            36.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            882.0560297991003,
+            38.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            884.6541060104537,
+            39.684147419068374,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            887.2521822218071,
+            41.184147419068374,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            887.2521822218071,
+            41.184147419068374,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            908.0,
+            44.0,
+            -34.6274
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-08-00_308829/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-08-00_308829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42115926e1acfc3f71358a02651c0386110d59f1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-08-00_308829/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            425.7505854002197,
+            -74.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            423.15250918886636,
+            -73.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            420.55443297751304,
+            -71.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            417.95635676615973,
+            -70.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            415.3582805548064,
+            -68.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            412.7602043434531,
+            -67.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            410.1621281320998,
+            -65.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            407.56405192074646,
+            -64.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            404.96597570939315,
+            -62.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            402.36789949803983,
+            -61.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            399.7698232866865,
+            -59.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            397.1717470753332,
+            -58.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            394.5736708639799,
+            -56.81400114492344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            391.97559465262657,
+            -55.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            391.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            391.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            388.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            385.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            382.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            379.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            376.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            373.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            370.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            367.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            364.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            361.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            358.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            355.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            352.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            349.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            346.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            343.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            340.97559465262657,
+            -55.31400114492344,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            340.97559465262657,
+            -55.31400114492344,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "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/low_average/2025-01-19_00-10-31_974737/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-10-31_974737/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6f7735574685768da6fae6cdf01cfa256ecdcc0e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-10-31_974737/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            771.9242204733468,
+            1054.1395703392902,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            774.9242204733468,
+            1054.1395703392902,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            774.9242204733468,
+            1054.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            774.9242204733468,
+            1054.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            777.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            777.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            780.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            783.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            786.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            789.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            792.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            795.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            795.5222966847002,
+            1052.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            798.1203728960536,
+            1051.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            800.718449107407,
+            1049.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            803.3165253187603,
+            1048.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            805.9146015301137,
+            1046.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            808.5126777414671,
+            1045.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            811.1107539528205,
+            1043.6395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            813.7088301641738,
+            1042.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            813.7088301641738,
+            1042.1395703392902,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            815.2088301641738,
+            1039.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            815.2088301641738,
+            1039.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            817.8069063755272,
+            1038.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            820.4049825868806,
+            1036.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            823.003058798234,
+            1035.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            825.6011350095873,
+            1033.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            828.1992112209407,
+            1032.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            830.7972874322941,
+            1030.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            833.3953636436474,
+            1029.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            835.9934398550008,
+            1027.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            838.5915160663542,
+            1026.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            841.1895922777076,
+            1024.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            843.7876684890609,
+            1023.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            846.3857447004143,
+            1021.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            848.9838209117677,
+            1020.0414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            851.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            851.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            854.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            857.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            860.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            863.581897123121,
+            1018.5414941279369,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            863.581897123121,
+            1018.5414941279369,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            884.0,
+            1012.0,
+            -30.1697
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-11-06_489148/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-11-06_489148/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b261a0f386a5d90713006e1c414a3551337a092b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-01-19_00-11-06_489148/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1335.0938600007805,
+            392.7924915370693,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1333.5938600007805,
+            390.19441532571597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1332.0938600007805,
+            387.59633911436265,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1330.5938600007805,
+            384.99826290300933,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1329.0938600007805,
+            382.400186691656,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1327.5938600007805,
+            379.8021104803027,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1326.0938600007805,
+            377.2040342689494,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1324.5938600007805,
+            374.60595805759607,
+            -26.888958510984654
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1324.5938600007805,
+            374.60595805759607,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1323.0938600007805,
+            372.00788184624275,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1321.5938600007805,
+            369.40980563488944,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1320.0938600007805,
+            366.8117294235361,
+            -23.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1320.0938600007805,
+            366.8117294235361,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1320.0938600007805,
+            363.8117294235361,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1320.0938600007805,
+            363.8117294235361,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1318.5938600007805,
+            361.2136532121828,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1317.0938600007805,
+            358.6155770008295,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1315.5938600007805,
+            356.0175007894762,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1314.0938600007805,
+            353.41942457812286,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1312.5938600007805,
+            350.82134836676954,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1311.0938600007805,
+            348.2232721554162,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1309.5938600007805,
+            345.6251959440629,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1308.0938600007805,
+            343.0271197327096,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1306.5938600007805,
+            340.4290435213563,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1305.0938600007805,
+            337.83096731000296,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1303.5938600007805,
+            335.23289109864965,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1302.0938600007805,
+            332.63481488729633,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1300.5938600007805,
+            330.036738675943,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1299.0938600007805,
+            327.4386624645897,
+            -23.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1299.0938600007805,
+            327.4386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1296.4957837894272,
+            325.9386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1293.8977075780738,
+            324.4386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1291.2996313667204,
+            322.9386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1288.701555155367,
+            321.4386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1286.1034789440137,
+            319.9386624645897,
+            -23.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1283.5054027326603,
+            318.4386624645897,
+            -23.888958510984654
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1283.5054027326603,
+            318.4386624645897,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1260.0,
+            284.0,
+            -29.5371
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-53-4_42999170/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-53-4_42999170/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a05f0c6630843b16224b868be6a6b6af543139e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_17-53-4_42999170/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1943.5968860063988,
+            468.3081864619861,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1942.0968860063988,
+            470.9062626733394,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1940.5968860063988,
+            473.50433888469274,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1939.0968860063988,
+            476.10241509604606,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1937.5968860063988,
+            478.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1937.5968860063988,
+            478.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1934.9988097950454,
+            480.2004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1932.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1932.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1929.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1926.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1923.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1920.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1917.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1914.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1911.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1908.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1905.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1902.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1899.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1896.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1893.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1890.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1887.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1884.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1881.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1878.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1875.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1872.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1869.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1866.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1863.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1860.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1857.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1854.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1851.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1848.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1845.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1842.400733583692,
+            481.7004913073994,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "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/low_average/2025-1-8_18-16-23_791698927/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-16-23_791698927/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c8d23c1b895c049bcfbbbefce138712791e114d0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-16-23_791698927/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            810.9495849143386,
+            3.4370904923554164,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            808.3515087029853,
+            4.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            805.7534324916319,
+            6.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            803.1553562802785,
+            7.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            800.5572800689251,
+            9.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            797.9592038575718,
+            10.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            795.3611276462184,
+            12.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            792.763051434865,
+            13.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            790.1649752235116,
+            15.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            787.5668990121583,
+            16.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            784.9688228008049,
+            18.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            782.3707465894515,
+            19.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            779.7726703780982,
+            21.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            777.1745941667448,
+            22.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            774.5765179553914,
+            24.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            771.978441744038,
+            25.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            769.3803655326847,
+            27.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            766.7822893213313,
+            28.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            764.1842131099779,
+            30.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            761.5861368986245,
+            31.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            758.9880606872712,
+            33.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            756.3899844759178,
+            34.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            753.7919082645644,
+            36.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            751.193832053211,
+            37.937090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            748.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            748.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            745.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            742.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            739.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            736.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            733.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            730.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            727.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            724.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            721.5957558418577,
+            39.437090492355416,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            48.0,
+            -29.2873
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-57-34_1569229320/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-57-34_1569229320/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f1853c65cc640a7864d5e26d4975bb7a4f0a8724
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-57-34_1569229320/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1367.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1370.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1373.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1376.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1379.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1382.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1385.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1388.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1391.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1394.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1394.0442938339932,
+            338.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1396.6423700453465,
+            337.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1399.2404462567,
+            335.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1401.8385224680533,
+            334.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1404.4365986794066,
+            332.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1407.03467489076,
+            331.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1409.6327511021134,
+            329.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1412.2308273134668,
+            328.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1414.8289035248201,
+            326.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1417.4269797361735,
+            325.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1420.0250559475269,
+            323.78348586760575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1422.6231321588803,
+            322.28348586760575,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "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/low_average/2025-1-8_18-57-48_705178736/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-57-48_705178736/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f45f45a9112b5bc7743801edaa267cd403a11e4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-57-48_705178736/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            976.713019315981,
+            422.4478438362024,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            978.213019315981,
+            425.04592004755574,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            979.713019315981,
+            427.64399625890906,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            981.213019315981,
+            430.24207247026237,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            982.713019315981,
+            432.8401486816157,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            984.213019315981,
+            435.438224892969,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            985.713019315981,
+            438.0363011043223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            987.213019315981,
+            440.63437731567564,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            988.713019315981,
+            443.23245352702895,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            990.213019315981,
+            445.83052973838227,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            991.713019315981,
+            448.4286059497356,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            993.213019315981,
+            451.0266821610889,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            994.713019315981,
+            453.6247583724422,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            996.213019315981,
+            456.22283458379553,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            997.713019315981,
+            458.82091079514885,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            999.213019315981,
+            461.41898700650216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1000.713019315981,
+            464.0170632178555,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1002.213019315981,
+            466.6151394292088,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1003.713019315981,
+            469.2132156405621,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1005.213019315981,
+            471.8112918519154,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1006.713019315981,
+            474.40936806326874,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1008.213019315981,
+            477.00744427462206,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1009.713019315981,
+            479.6055204859754,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1011.213019315981,
+            482.2035966973287,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1012.713019315981,
+            484.801672908682,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1014.213019315981,
+            487.3997491200353,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1015.713019315981,
+            489.99782533138864,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1017.213019315981,
+            492.59590154274196,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1018.713019315981,
+            495.1939777540953,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1020.213019315981,
+            497.7920539654486,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1021.713019315981,
+            500.3901301768019,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1023.213019315981,
+            502.9882063881552,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1024.713019315981,
+            505.58628259950854,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1026.213019315981,
+            508.18435881086185,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1027.713019315981,
+            510.78243502221517,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1048.0,
+            540.0,
+            -32.9472
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-6-38_1956297539/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-6-38_1956297539/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d64f819fe2b3dd9b3d4e04e7d0f6048183bc992
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_18-6-38_1956297539/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            631.5745359337495,
+            -85.6255693430032,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            633.0745359337495,
+            -83.02749313164989,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            634.5745359337495,
+            -80.42941692029657,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            636.0745359337495,
+            -77.83134070894326,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            637.5745359337495,
+            -75.23326449758994,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            639.0745359337495,
+            -72.63518828623663,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            640.5745359337495,
+            -70.03711207488331,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            642.0745359337495,
+            -67.43903586353,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            643.5745359337495,
+            -64.84095965217668,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            645.0745359337495,
+            -62.24288344082336,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            646.5745359337495,
+            -59.64480722947005,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            648.0745359337495,
+            -57.04673101811673,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            649.5745359337495,
+            -54.448654806763415,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            651.0745359337495,
+            -51.8505785954101,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            652.5745359337495,
+            -49.25250238405678,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            654.0745359337495,
+            -46.65442617270347,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            655.5745359337495,
+            -44.05634996135015,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            657.0745359337495,
+            -41.458273749996835,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            658.5745359337495,
+            -38.86019753864352,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            658.5745359337495,
+            -38.86019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            661.1726121451029,
+            -37.36019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            663.7706883564563,
+            -35.86019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            666.3687645678096,
+            -34.36019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            668.966840779163,
+            -32.86019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            671.5649169905164,
+            -31.36019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            674.1629932018698,
+            -29.86019753864352,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            676.7610694132231,
+            -28.36019753864352,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -8.0,
+            -29.4591
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-0-5_1143408282/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-0-5_1143408282/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b223580bb64a656470dc9483c3417f3b6b9bef4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-0-5_1143408282/pose.jsonl
@@ -0,0 +1,93 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            856.2956614330271,
+            1175.5313165442615,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            858.8937376443805,
+            1174.0313165442615,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            861.4918138557339,
+            1172.5313165442615,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            861.4918138557339,
+            1172.5313165442615,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            862.9918138557339,
+            1169.933240332908,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            864.4918138557339,
+            1167.3351641215547,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            940.0,
+            1100.0,
+            0.524277
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-4-57_7684930/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-4-57_7684930/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4cac0e5b1258e9c620d475c94db0f3fbf96f855
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_19-4-57_7684930/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            847.636553959267,
+            1309.000687345798,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            846.136553959267,
+            1306.4026111344447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            844.636553959267,
+            1303.8045349230913,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            843.136553959267,
+            1301.206458711738,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            841.636553959267,
+            1298.6083825003846,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            840.136553959267,
+            1296.0103062890312,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            838.636553959267,
+            1293.4122300776778,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            837.136553959267,
+            1290.8141538663244,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            835.636553959267,
+            1288.216077654971,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            834.136553959267,
+            1285.6180014436177,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            832.636553959267,
+            1283.0199252322643,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            831.136553959267,
+            1280.421849020911,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            829.636553959267,
+            1277.8237728095576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            828.136553959267,
+            1275.2256965982042,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            826.636553959267,
+            1272.6276203868508,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            825.136553959267,
+            1270.0295441754974,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            823.636553959267,
+            1267.431467964144,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            822.136553959267,
+            1264.8333917527907,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            820.636553959267,
+            1262.2353155414373,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            819.136553959267,
+            1259.637239330084,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            817.636553959267,
+            1257.0391631187306,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            816.136553959267,
+            1254.4410869073772,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            814.636553959267,
+            1251.8430106960238,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            813.136553959267,
+            1249.2449344846705,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            811.636553959267,
+            1246.646858273317,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            810.136553959267,
+            1244.0487820619637,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            808.636553959267,
+            1241.4507058506103,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            807.136553959267,
+            1238.852629639257,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            805.636553959267,
+            1236.2545534279036,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            804.136553959267,
+            1233.6564772165502,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            802.636553959267,
+            1231.0584010051969,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            801.136553959267,
+            1228.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            801.136553959267,
+            1228.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            801.136553959267,
+            1225.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            801.136553959267,
+            1222.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            801.136553959267,
+            1219.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            801.136553959267,
+            1216.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            801.136553959267,
+            1213.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            801.136553959267,
+            1210.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            801.136553959267,
+            1207.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            801.136553959267,
+            1204.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            801.136553959267,
+            1201.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            801.136553959267,
+            1198.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            801.136553959267,
+            1195.4603247938435,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            1176.0,
+            -28.2416
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-33_2137100237/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-33_2137100237/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b90ada419b63802048b1cf15b7f0af03221b7189
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_20-38-33_2137100237/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1350.2666277093729,
+            173.85141881509776,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1351.7666277093729,
+            171.25334260374444,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1353.2666277093729,
+            168.65526639239113,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1354.7666277093729,
+            166.0571901810378,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1356.2666277093729,
+            163.4591139696845,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1357.7666277093729,
+            160.86103775833118,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1359.2666277093729,
+            158.26296154697786,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1360.7666277093729,
+            155.66488533562455,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1362.2666277093729,
+            153.06680912427123,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1363.7666277093729,
+            150.46873291291791,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1365.2666277093729,
+            147.8706567015646,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1366.7666277093729,
+            145.27258049021128,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1368.2666277093729,
+            142.67450427885797,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1369.7666277093729,
+            140.07642806750465,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1371.2666277093729,
+            137.47835185615133,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1372.7666277093729,
+            134.88027564479802,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1374.2666277093729,
+            132.2821994334447,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1375.7666277093729,
+            129.6841232220914,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1377.2666277093729,
+            127.08604701073807,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1378.7666277093729,
+            124.48797079938475,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1380.2666277093729,
+            121.88989458803144,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1381.7666277093729,
+            119.29181837667812,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1383.2666277093729,
+            116.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1383.2666277093729,
+            116.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1383.2666277093729,
+            113.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1383.2666277093729,
+            110.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1383.2666277093729,
+            107.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1383.2666277093729,
+            104.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1383.2666277093729,
+            101.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1383.2666277093729,
+            98.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1383.2666277093729,
+            95.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1383.2666277093729,
+            92.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1383.2666277093729,
+            89.6937421653248,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1400.0,
+            48.0,
+            -29.2873
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-0-50_962033002/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-0-50_962033002/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9dc3cbc28bc964cec24447d203bfd9c5c27a71cc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-0-50_962033002/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1694.1887124241448,
+            -79.82816309507055,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1692.6887124241448,
+            -82.42623930642387,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1691.1887124241448,
+            -85.02431551777718,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1689.6887124241448,
+            -87.6223917291305,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1688.1887124241448,
+            -90.22046794048381,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1686.6887124241448,
+            -92.81854415183713,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1685.1887124241448,
+            -95.41662036319045,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1683.6887124241448,
+            -98.01469657454376,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1682.1887124241448,
+            -100.61277278589708,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1680.6887124241448,
+            -103.2108489972504,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1679.1887124241448,
+            -105.80892520860371,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1677.6887124241448,
+            -108.40700141995703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1676.1887124241448,
+            -111.00507763131034,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1674.6887124241448,
+            -113.60315384266366,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1673.1887124241448,
+            -116.20123005401697,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1671.6887124241448,
+            -118.79930626537029,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1671.6887124241448,
+            -118.79930626537029,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1671.6887124241448,
+            -121.79930626537029,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1671.6887124241448,
+            -124.79930626537029,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1671.6887124241448,
+            -127.79930626537029,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1671.6887124241448,
+            -130.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1671.6887124241448,
+            -133.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1671.6887124241448,
+            -136.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1671.6887124241448,
+            -139.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1671.6887124241448,
+            -142.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1671.6887124241448,
+            -145.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1671.6887124241448,
+            -148.7993062653703,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1652.0,
+            -212.0,
+            -31.1768
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-1-40_1372261796/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-1-40_1372261796/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4add3b5afed68d6d23d1fe407a88602839619bfd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-1-40_1372261796/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            271.01568953216486,
+            294.71838881424407,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            272.51568953216486,
+            297.3164650255974,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            274.01568953216486,
+            299.9145412369507,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            275.51568953216486,
+            302.512617448304,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            277.01568953216486,
+            305.11069365965733,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            278.51568953216486,
+            307.70876987101065,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            280.01568953216486,
+            310.30684608236396,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            281.51568953216486,
+            312.9049222937173,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            283.01568953216486,
+            315.5029985050706,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            284.51568953216486,
+            318.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            284.51568953216486,
+            318.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            287.1137657435182,
+            319.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            289.7118419548715,
+            321.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            292.3099181662248,
+            322.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            294.9079943775781,
+            324.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            297.50607058893144,
+            325.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            300.10414680028475,
+            327.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            302.70222301163807,
+            328.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            305.3002992229914,
+            330.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            307.8983754343447,
+            331.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            310.496451645698,
+            333.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            313.09452785705133,
+            334.6010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            315.69260406840465,
+            336.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            315.69260406840465,
+            336.1010747164239,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            317.19260406840465,
+            338.6991509277772,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            318.69260406840465,
+            341.29722713913054,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            320.19260406840465,
+            343.89530335048386,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            321.69260406840465,
+            346.4933795618372,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            340.0,
+            368.0,
+            -1.13108
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-39_1988714904/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-39_1988714904/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0f35a4fc9d9ad37073d36a679d9a9d096997cffc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-29-39_1988714904/pose.jsonl
@@ -0,0 +1,678 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            31.136405873501303,
+            -413.81332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            28.538329662147987,
+            -412.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            25.94025345079467,
+            -410.81332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            23.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            23.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            20.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            17.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            14.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            11.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            8.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            5.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            2.342177239441355,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -0.6578227605586449,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -3.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -6.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -9.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -12.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -15.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -18.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -21.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -24.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -27.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -30.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -33.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -36.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -36.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -36.657822760558645,
+            -409.31332653591323,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -38.157822760558645,
+            -406.7152503245599,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -39.657822760558645,
+            -404.1171741132066,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -41.157822760558645,
+            -401.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -41.157822760558645,
+            -401.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -41.157822760558645,
+            -398.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -41.157822760558645,
+            -395.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -41.157822760558645,
+            -392.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -41.157822760558645,
+            -389.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -41.157822760558645,
+            -386.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -41.157822760558645,
+            -383.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -41.157822760558645,
+            -380.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -41.157822760558645,
+            -377.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -41.157822760558645,
+            -374.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -41.157822760558645,
+            -371.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -41.157822760558645,
+            -368.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -41.157822760558645,
+            -365.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -41.157822760558645,
+            -362.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -41.157822760558645,
+            -359.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -41.157822760558645,
+            -356.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -41.157822760558645,
+            -353.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -41.157822760558645,
+            -350.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -41.157822760558645,
+            -347.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -41.157822760558645,
+            -344.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -41.157822760558645,
+            -341.5190979018533,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -64.0,
+            -316.0,
+            -30.1698
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-36-35_714880226/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-36-35_714880226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f72bb5dde2cea95b2499124ae294e43c61f06693
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-36-35_714880226/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            655.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            658.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            661.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            664.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            667.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            670.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            673.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            676.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            676.2639456492672,
+            1168.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            678.8620218606204,
+            1169.6769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            681.4600980719738,
+            1171.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            681.4600980719738,
+            1171.1769001235832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            682.9600980719738,
+            1173.7749763349366,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            684.4600980719738,
+            1176.37305254629,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            685.9600980719738,
+            1178.9711287576433,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            687.4600980719738,
+            1181.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            687.4600980719738,
+            1181.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            690.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            690.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            693.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            696.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            699.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            702.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            705.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            708.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            711.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            714.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            717.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            720.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            723.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            726.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            729.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            732.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            735.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            738.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            741.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            744.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            747.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            750.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            753.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            756.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            756.0581742833272,
+            1183.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            758.6562504946805,
+            1181.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            761.2543267060339,
+            1180.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            763.8524029173873,
+            1178.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            766.4504791287407,
+            1177.0692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            769.048555340094,
+            1175.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            769.048555340094,
+            1175.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            772.048555340094,
+            1175.5692049689967,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 9.43689570931383e-15
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            1176.0,
+            -28.2416
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-42-13_1140384172/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-42-13_1140384172/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c0903358682ea764127d9f833ba18e6c8cdb4a0e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-42-13_1140384172/pose.jsonl
@@ -0,0 +1,223 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -123.62893157476921,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -126.62893157476921,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -129.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -132.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -135.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -138.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -141.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -144.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -147.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -150.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -153.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -153.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -153.6289315747692,
+            543.552444860479,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 4.1887902047863905
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -155.1289315747692,
+            540.9543686491256,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -156.6289315747692,
+            538.3562924377723,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -158.1289315747692,
+            535.7582162264189,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -228.0,
+            516.0,
+            -34.1924
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-51-56_1669679262/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-51-56_1669679262/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..77e83cb074f71b64692c19fe2098d1be959a21f0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-51-56_1669679262/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            431.2747753737949,
+            -202.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            433.8728515851482,
+            -200.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            436.47092779650154,
+            -199.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            439.06900400785486,
+            -197.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            441.6670802192082,
+            -196.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            444.2651564305615,
+            -194.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            446.8632326419148,
+            -193.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            449.4613088532681,
+            -191.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            452.05938506462144,
+            -190.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            454.65746127597475,
+            -188.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            457.25553748732807,
+            -187.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            459.8536136986814,
+            -185.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            462.4516899100347,
+            -184.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            465.049766121388,
+            -182.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            467.64784233274133,
+            -181.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            470.24591854409465,
+            -179.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            472.84399475544797,
+            -178.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            475.4420709668013,
+            -176.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            478.0401471781546,
+            -175.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            480.6382233895079,
+            -173.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            483.23629960086123,
+            -172.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            485.83437581221455,
+            -170.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            488.43245202356786,
+            -169.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            491.0305282349212,
+            -167.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            493.6286044462745,
+            -166.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            496.2266806576278,
+            -164.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            498.8247568689811,
+            -163.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            501.42283308033444,
+            -161.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            504.02090929168776,
+            -160.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            506.6189855030411,
+            -158.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            509.2170617143944,
+            -157.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            511.8151379257477,
+            -155.67302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            514.413214137101,
+            -154.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            514.413214137101,
+            -154.17302707532048,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            515.913214137101,
+            -151.57495086396716,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            517.413214137101,
+            -148.97687465261384,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            518.913214137101,
+            -146.37879844126053,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            520.413214137101,
+            -143.7807222299072,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            521.913214137101,
+            -141.1826460185539,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            523.413214137101,
+            -138.58456980720058,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            524.913214137101,
+            -135.98649359584726,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            548.0,
+            -120.0,
+            50.6383
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-58-13_207621703/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-58-13_207621703/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e137501a7242cabdb2c3d336a7fc75a57f896b3f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-58-13_207621703/pose.jsonl
@@ -0,0 +1,392 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1120.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1123.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1126.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1129.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1132.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1135.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1138.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1141.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1144.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1147.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1150.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1153.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1156.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1159.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1162.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1165.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1168.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1171.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1171.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1171.9244089958354,
+            -253.0503847491557,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1173.4244089958354,
+            -250.4523085378024,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1174.9244089958354,
+            -247.85423232644908,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1176.4244089958354,
+            -245.25615611509576,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1176.4244089958354,
+            -245.25615611509576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1179.0224852071888,
+            -243.75615611509576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1181.6205614185421,
+            -242.25615611509576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1184.2186376298955,
+            -240.75615611509576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1186.8167138412489,
+            -239.25615611509576,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1189.4147900526023,
+            -237.75615611509576,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1260.0,
+            -220.0,
+            -32.2049
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-7-12_395279207/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-7-12_395279207/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59b7f5a0667d5a96b0cba8aa5114b991c8b6bfd9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_21-7-12_395279207/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            235.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            238.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            241.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            244.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            247.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            250.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            253.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            256.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            259.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            262.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            265.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            268.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            271.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            274.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            277.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            280.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            283.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            286.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            289.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            292.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            295.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            298.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            301.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            304.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            307.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            310.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            310.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            310.7154190150045,
+            389.3705275023216,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            312.2154190150045,
+            386.77245129096826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            313.7154190150045,
+            384.17437507961495,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            315.2154190150045,
+            381.57629886826163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            316.7154190150045,
+            378.9782226569083,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            318.2154190150045,
+            376.380146445555,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            319.7154190150045,
+            373.7820702342017,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            340.0,
+            368.0,
+            -1.13108
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-18-2_1735079296/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-18-2_1735079296/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b80b0615e3870b92c59082bcbe34827ea6875a73
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-18-2_1735079296/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            509.65508252753966,
+            -61.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            507.05700631618635,
+            -60.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            504.45893010483303,
+            -58.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            501.8608538934797,
+            -57.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            499.2627776821264,
+            -55.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            496.6647014707731,
+            -54.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            494.06662525941977,
+            -52.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            491.46854904806645,
+            -51.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            488.87047283671313,
+            -49.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            486.2723966253598,
+            -48.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            483.6743204140065,
+            -46.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            481.0762442026532,
+            -45.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            478.47816799129987,
+            -43.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            475.88009177994655,
+            -42.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            473.28201556859324,
+            -40.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            470.6839393572399,
+            -39.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            468.0858631458866,
+            -37.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            465.4877869345333,
+            -36.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            462.88971072318,
+            -34.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            460.29163451182666,
+            -33.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            457.69355830047334,
+            -31.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            455.09548208912,
+            -30.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            452.4974058777667,
+            -28.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            449.8993296664134,
+            -27.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            447.3012534550601,
+            -25.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            444.70317724370676,
+            -24.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            442.10510103235345,
+            -22.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            439.50702482100013,
+            -21.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            436.9089486096468,
+            -19.956137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            434.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            434.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            431.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            428.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            425.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            422.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            419.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            416.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            413.3108723982935,
+            -18.456137493809344,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            388.0,
+            -4.0,
+            -30.4968
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-20-43_1341443181/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-20-43_1341443181/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e7755765766a96551169f400ab26ff632fe1b397
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-20-43_1341443181/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            173.36858126515165,
+            61.201931149622,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            174.86858126515165,
+            63.800007360975314,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            176.36858126515165,
+            66.39808357232863,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            177.86858126515165,
+            68.99615978368195,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            179.36858126515165,
+            71.59423599503526,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            180.86858126515165,
+            74.19231220638858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            182.36858126515165,
+            76.7903884177419,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            183.86858126515165,
+            79.38846462909521,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            185.36858126515165,
+            81.98654084044853,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            186.86858126515165,
+            84.58461705180184,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            188.36858126515165,
+            87.18269326315516,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            189.86858126515165,
+            89.78076947450847,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            191.36858126515165,
+            92.37884568586179,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            192.86858126515165,
+            94.9769218972151,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            194.36858126515165,
+            97.57499810856842,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            195.86858126515165,
+            100.17307431992174,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            197.36858126515165,
+            102.77115053127505,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            198.86858126515165,
+            105.36922674262837,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            200.36858126515165,
+            107.96730295398169,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            201.86858126515165,
+            110.565379165335,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            203.36858126515165,
+            113.16345537668832,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            204.86858126515165,
+            115.76153158804163,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            206.36858126515165,
+            118.35960779939495,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            207.86858126515165,
+            120.95768401074827,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            209.36858126515165,
+            123.55576022210158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            210.86858126515165,
+            126.1538364334549,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            212.36858126515165,
+            128.75191264480821,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            213.86858126515165,
+            131.34998885616153,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            213.86858126515165,
+            131.34998885616153,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            213.86858126515165,
+            134.34998885616153,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            213.86858126515165,
+            137.34998885616153,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            228.0,
+            164.0,
+            51.3126
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-39_11671338/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-39_11671338/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..eb781ce062dd6fbfbdf9836850dc3e9443f93eaa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_22-8-39_11671338/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            735.7232808844549,
+            36.94839152977171,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            735.7232808844549,
+            33.94839152977171,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            735.7232808844549,
+            30.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            735.7232808844549,
+            27.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            735.7232808844549,
+            24.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            735.7232808844549,
+            21.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            735.7232808844549,
+            18.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            735.7232808844549,
+            15.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            735.7232808844549,
+            12.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            735.7232808844549,
+            9.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            735.7232808844549,
+            6.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            735.7232808844549,
+            3.948391529771712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            735.7232808844549,
+            0.9483915297717118,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            735.7232808844549,
+            -2.051608470228288,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            735.7232808844549,
+            -2.051608470228288,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            734.2232808844549,
+            -4.649684681581604,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            732.7232808844549,
+            -7.24776089293492,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            731.2232808844549,
+            -9.845837104288236,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            729.7232808844549,
+            -12.443913315641552,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            728.2232808844549,
+            -15.041989526994868,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            726.7232808844549,
+            -17.640065738348184,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            725.2232808844549,
+            -20.2381419497015,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            723.7232808844549,
+            -22.836218161054816,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            722.2232808844549,
+            -25.434294372408132,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            720.7232808844549,
+            -28.03237058376145,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            720.7232808844549,
+            -28.03237058376145,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            720.7232808844549,
+            -31.03237058376145,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            720.7232808844549,
+            -31.03237058376145,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            719.2232808844549,
+            -33.630446795114764,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            717.7232808844549,
+            -36.22852300646808,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "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/low_average/2025-1-8_23-27-52_1550101877/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-27-52_1550101877/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1e387bd41f327d3a5312fb31ccdcf64c4c40d8f5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-27-52_1550101877/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1141.6945492599125,
+            433.89720905899947,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1144.6945492599125,
+            433.89720905899947,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1147.6945492599125,
+            433.89720905899947,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1147.6945492599125,
+            433.89720905899947,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1147.6945492599125,
+            433.89720905899947,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1149.1945492599125,
+            436.4952852703528,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1150.6945492599125,
+            439.0933614817061,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1152.1945492599125,
+            441.6914376930594,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1153.6945492599125,
+            444.28951390441273,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1155.1945492599125,
+            446.88759011576605,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1156.6945492599125,
+            449.48566632711936,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1158.1945492599125,
+            452.0837425384727,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1159.6945492599125,
+            454.681818749826,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1159.6945492599125,
+            454.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1159.6945492599125,
+            457.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1159.6945492599125,
+            460.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1159.6945492599125,
+            463.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1159.6945492599125,
+            466.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1159.6945492599125,
+            469.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1159.6945492599125,
+            472.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1159.6945492599125,
+            475.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1159.6945492599125,
+            478.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1159.6945492599125,
+            481.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1159.6945492599125,
+            484.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1159.6945492599125,
+            487.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1159.6945492599125,
+            490.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1159.6945492599125,
+            493.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1159.6945492599125,
+            496.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1159.6945492599125,
+            499.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1159.6945492599125,
+            502.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1159.6945492599125,
+            505.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1159.6945492599125,
+            508.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1159.6945492599125,
+            511.681818749826,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1159.6945492599125,
+            514.681818749826,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1164.0,
+            540.0,
+            -29.242
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-57_990526343/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-57_990526343/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9e0aa0e855fb16692cc225d77e63d9baa01456be
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-40-57_990526343/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1740.2912827515015,
+            941.2113605293914,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1738.7912827515015,
+            938.613284318038,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1737.2912827515015,
+            936.0152081066847,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1735.7912827515015,
+            933.4171318953313,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1734.2912827515015,
+            930.8190556839779,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1732.7912827515015,
+            928.2209794726245,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1731.2912827515015,
+            925.6229032612712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1729.7912827515015,
+            923.0248270499178,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1728.2912827515015,
+            920.4267508385644,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1726.7912827515015,
+            917.8286746272111,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1725.2912827515015,
+            915.2305984158577,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1723.7912827515015,
+            912.6325222045043,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1722.2912827515015,
+            910.0344459931509,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1720.7912827515015,
+            907.4363697817976,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1719.2912827515015,
+            904.8382935704442,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1717.7912827515015,
+            902.2402173590908,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1716.2912827515015,
+            899.6421411477374,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1714.7912827515015,
+            897.0440649363841,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1713.2912827515015,
+            894.4459887250307,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1711.7912827515015,
+            891.8479125136773,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1710.2912827515015,
+            889.249836302324,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1708.7912827515015,
+            886.6517600909706,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1707.2912827515015,
+            884.0536838796172,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1705.7912827515015,
+            881.4556076682638,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1704.2912827515015,
+            878.8575314569105,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1702.7912827515015,
+            876.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1702.7912827515015,
+            876.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1700.1932065401481,
+            874.7594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1697.5951303287948,
+            873.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1694.9970541174414,
+            871.7594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1692.398977906088,
+            870.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1689.8009016947346,
+            868.7594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1687.2028254833813,
+            867.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1684.604749272028,
+            865.7594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1682.0066730606745,
+            864.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1679.4085968493212,
+            862.7594552455571,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1676.8105206379678,
+            861.2594552455571,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1656.0,
+            836.0,
+            -29.4139
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-43-9_403068011/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-43-9_403068011/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e8822dc115da7025f98c6d78badac9088d07d393
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-43-9_403068011/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1583.5739697187962,
+            889.0949801056207,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1582.0739697187962,
+            886.4969038942675,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1580.5739697187962,
+            883.8988276829141,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1579.0739697187962,
+            881.3007514715607,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1577.5739697187962,
+            878.7026752602073,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1576.0739697187962,
+            876.104599048854,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1574.5739697187962,
+            873.5065228375006,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1573.0739697187962,
+            870.9084466261472,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1571.5739697187962,
+            868.3103704147939,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1570.0739697187962,
+            865.7122942034405,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1568.5739697187962,
+            863.1142179920871,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1567.0739697187962,
+            860.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1567.0739697187962,
+            860.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1564.4758935074428,
+            859.0161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1561.8778172960895,
+            857.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1559.279741084736,
+            856.0161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1556.6816648733827,
+            854.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1554.0835886620293,
+            853.0161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1551.485512450676,
+            851.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1548.8874362393226,
+            850.0161417807337,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1546.2893600279692,
+            848.5161417807337,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1512.0,
+            808.0,
+            -15.72
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-6-42_386839851/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-6-42_386839851/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..596fbe7a4cd3bb3964405ade34be0d0abc999fdc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-8_23-6-42_386839851/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            241.5797545035291,
+            82.66027869334818,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            243.0797545035291,
+            80.06220248199486,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            244.5797545035291,
+            77.46412627064154,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            246.0797545035291,
+            74.86605005928823,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            247.5797545035291,
+            72.26797384793491,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            249.0797545035291,
+            69.6698976365816,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            250.5797545035291,
+            67.07182142522828,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            252.0797545035291,
+            64.47374521387496,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            253.5797545035291,
+            61.87566900252165,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            255.0797545035291,
+            59.27759279116833,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            256.5797545035291,
+            56.679516579815015,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            258.0797545035291,
+            54.0814403684617,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            259.5797545035291,
+            51.48336415710838,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            261.0797545035291,
+            48.88528794575507,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            262.5797545035291,
+            46.28721173440175,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            264.0797545035291,
+            43.689135523048435,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            265.5797545035291,
+            41.09105931169512,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            267.0797545035291,
+            38.4929831003418,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            268.5797545035291,
+            35.89490688898849,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            270.0797545035291,
+            33.29683067763517,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            271.5797545035291,
+            30.698754466281855,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            273.0797545035291,
+            28.10067825492854,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            274.5797545035291,
+            25.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            274.5797545035291,
+            25.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            274.5797545035291,
+            22.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            274.5797545035291,
+            19.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            274.5797545035291,
+            16.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            274.5797545035291,
+            13.502602043575223,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "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/low_average/2025-1-9_0-29-46_2117303605/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-29-46_2117303605/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f6b419f157579d19b2ded8873354b3b1e3b41055
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-29-46_2117303605/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -141.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -138.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -135.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -132.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -129.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -126.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -123.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -120.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -117.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -114.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -111.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -108.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -105.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -102.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -99.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -96.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -93.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -90.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -90.89083102921177,
+            -114.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -88.29275481785845,
+            -115.76366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -85.69467860650514,
+            -117.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -83.09660239515182,
+            -118.76366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -80.4985261837985,
+            -120.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -77.90044997244519,
+            -121.76366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -75.30237376109187,
+            -123.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -75.30237376109187,
+            -123.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -72.30237376109187,
+            -123.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -69.30237376109187,
+            -123.26366473487158,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.0
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            -28.0,
+            -128.0,
+            -27.9559
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-35-24_962764794/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-35-24_962764794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa17fc4e9777a23ccdef1781cd8ae7babc3da08b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-35-24_962764794/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            9.637084460875073,
+            -263.12750054351636,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            11.137084460875073,
+            -265.7255767548697,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            12.637084460875073,
+            -268.323652966223,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            14.137084460875073,
+            -270.9217291775763,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            15.637084460875073,
+            -273.5198053889296,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            17.137084460875073,
+            -276.11788160028294,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            18.637084460875073,
+            -278.71595781163626,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            20.137084460875073,
+            -281.3140340229896,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            21.637084460875073,
+            -283.9121102343429,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            23.137084460875073,
+            -286.5101864456962,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            24.637084460875073,
+            -289.1082626570495,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            26.137084460875073,
+            -291.70633886840284,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            27.637084460875073,
+            -294.30441507975615,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            29.137084460875073,
+            -296.90249129110947,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            30.637084460875073,
+            -299.5005675024628,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            32.13708446087507,
+            -302.0986437138161,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            33.63708446087507,
+            -304.6967199251694,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            35.13708446087507,
+            -307.29479613652273,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            36.63708446087507,
+            -309.89287234787605,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            38.13708446087507,
+            -312.49094855922937,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            39.63708446087507,
+            -315.0890247705827,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            41.13708446087507,
+            -317.687100981936,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            42.63708446087507,
+            -320.2851771932893,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            44.13708446087507,
+            -322.88325340464263,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            45.63708446087507,
+            -325.48132961599595,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            47.13708446087507,
+            -328.07940582734926,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            48.63708446087507,
+            -330.6774820387026,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            50.13708446087507,
+            -333.2755582500559,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            51.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            51.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            51.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.220446049250313e-16
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            54.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            57.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            60.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            63.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            63.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            63.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            63.63708446087507,
+            -335.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            63.63708446087507,
+            -338.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            63.63708446087507,
+            -338.8736344614092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            65.13708446087507,
+            -341.4717106727625,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            66.63708446087507,
+            -344.06978688411584,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            68.13708446087507,
+            -346.66786309546916,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            69.63708446087507,
+            -349.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            69.63708446087507,
+            -349.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            69.63708446087507,
+            -352.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            69.63708446087507,
+            -355.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            69.63708446087507,
+            -358.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            69.63708446087507,
+            -361.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            69.63708446087507,
+            -364.2659393068225,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "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/low_average/2025-1-9_0-36-53_1604665417/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-36-53_1604665417/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..40e2179fc8bbbae7475a07cdbab216c00c30ebe9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-36-53_1604665417/pose.jsonl
@@ -0,0 +1,600 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1229.1387660416044,
+            249.91379686551755,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1230.6387660416044,
+            252.51187307687087,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1232.1387660416044,
+            255.1099492882242,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1233.6387660416044,
+            257.7080254995775,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1233.6387660416044,
+            257.7080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1236.2368422529578,
+            259.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1238.8349184643112,
+            260.7080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1241.4329946756645,
+            262.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1241.4329946756645,
+            262.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1241.4329946756645,
+            262.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.570796326794887
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1241.4329946756645,
+            265.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1241.4329946756645,
+            268.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1241.4329946756645,
+            271.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1241.4329946756645,
+            274.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1241.4329946756645,
+            277.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1241.4329946756645,
+            280.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1241.4329946756645,
+            283.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1241.4329946756645,
+            286.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1241.4329946756645,
+            289.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1241.4329946756645,
+            292.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1241.4329946756645,
+            295.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1241.4329946756645,
+            298.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1241.4329946756645,
+            301.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1241.4329946756645,
+            301.2080254995775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1242.9329946756645,
+            303.8061017109308,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1244.4329946756645,
+            306.40417792228413,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1245.9329946756645,
+            309.00225413363745,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1247.4329946756645,
+            311.60033034499077,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1248.9329946756645,
+            314.1984065563441,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1250.4329946756645,
+            316.7964827676974,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1251.9329946756645,
+            319.3945589790507,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1253.4329946756645,
+            321.99263519040403,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1254.9329946756645,
+            324.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1254.9329946756645,
+            324.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1257.531070887018,
+            326.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1260.1291470983713,
+            327.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1262.7272233097246,
+            329.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1265.325299521078,
+            330.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1267.9233757324314,
+            332.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1270.5214519437848,
+            333.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1273.1195281551381,
+            335.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1275.7176043664915,
+            336.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1278.315680577845,
+            338.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1280.9137567891983,
+            339.59071140175735,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1283.5118330005516,
+            341.09071140175735,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1300.0,
+            364.0,
+            -28.7889
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-5-43_695258232/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-5-43_695258232/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5cfca981ebd665f46fcf78a2181566ce2dfcd449
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-5-43_695258232/pose.jsonl
@@ -0,0 +1,353 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1858.3895723113474,
+            392.1606451966728,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1856.8895723113474,
+            394.75872140802613,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1855.3895723113474,
+            397.35679761937945,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1853.8895723113474,
+            399.95487383073277,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1852.3895723113474,
+            402.5529500420861,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1850.8895723113474,
+            405.1510262534394,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1849.3895723113474,
+            407.7491024647927,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1847.8895723113474,
+            410.34717867614603,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1846.3895723113474,
+            412.94525488749935,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1844.8895723113474,
+            415.54333109885266,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1843.3895723113474,
+            418.141407310206,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1841.8895723113474,
+            420.7394835215593,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1840.3895723113474,
+            423.3375597329126,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1838.8895723113474,
+            425.9356359442659,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1837.3895723113474,
+            428.53371215561924,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1835.8895723113474,
+            431.13178836697256,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1834.3895723113474,
+            433.7298645783259,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1832.8895723113474,
+            436.3279407896792,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1831.3895723113474,
+            438.9260170010325,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1829.8895723113474,
+            441.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1829.8895723113474,
+            441.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1829.8895723113474,
+            444.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1829.8895723113474,
+            447.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1829.8895723113474,
+            450.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1829.8895723113474,
+            453.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1829.8895723113474,
+            456.5240932123858,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "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/low_average/2025-1-9_0-52-50_1360478499/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-52-50_1360478499/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f94d97a2265e03991b354917ab6865d39db82446
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-52-50_1360478499/pose.jsonl
@@ -0,0 +1,665 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            781.2347926756822,
+            109.76254275870797,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            779.7347926756822,
+            107.16446654735465,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            778.2347926756822,
+            104.56639033600133,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            776.7347926756822,
+            101.96831412464802,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            775.2347926756822,
+            99.3702379132947,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            773.7347926756822,
+            96.77216170194139,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            772.2347926756822,
+            94.17408549058807,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            770.7347926756822,
+            91.57600927923475,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            769.2347926756822,
+            88.97793306788144,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            767.7347926756822,
+            86.37985685652812,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            766.2347926756822,
+            83.7817806451748,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            764.7347926756822,
+            81.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            764.7347926756822,
+            81.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            764.7347926756822,
+            78.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            764.7347926756822,
+            75.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            764.7347926756822,
+            72.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            764.7347926756822,
+            69.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            764.7347926756822,
+            66.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            764.7347926756822,
+            63.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            764.7347926756822,
+            60.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            764.7347926756822,
+            57.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            764.7347926756822,
+            54.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            764.7347926756822,
+            51.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            764.7347926756822,
+            48.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            764.7347926756822,
+            45.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            764.7347926756822,
+            45.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            764.7347926756822,
+            45.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            762.1367164643289,
+            43.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            759.5386402529755,
+            42.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            756.9405640416221,
+            40.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            754.3424878302687,
+            39.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            751.7444116189154,
+            37.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            749.146335407562,
+            36.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            746.5482591962086,
+            34.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            743.9501829848552,
+            33.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            741.3521067735019,
+            31.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            738.7540305621485,
+            30.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            736.1559543507951,
+            28.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            733.5578781394418,
+            27.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            730.9598019280884,
+            25.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            728.361725716735,
+            24.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            725.7636495053816,
+            22.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            723.1655732940283,
+            21.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            720.5674970826749,
+            19.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            717.9694208713215,
+            18.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            715.3713446599681,
+            16.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            712.7732684486148,
+            15.18370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            710.1751922372614,
+            13.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            710.1751922372614,
+            13.68370443382149,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            708.6751922372614,
+            11.085628222468173,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            -8.0,
+            -29.4591
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-54-54_1389079342/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-54-54_1389079342/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..15e80e89280d3eb41c57ffdec8ac526b5c599f0d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_0-54-54_1389079342/pose.jsonl
@@ -0,0 +1,314 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1703.5890843919958,
+            52.84594255575507,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1705.0890843919958,
+            50.24786634440176,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1706.5890843919958,
+            47.64979013304844,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1708.0890843919958,
+            45.051713921695125,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1709.5890843919958,
+            42.45363771034181,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1711.0890843919958,
+            39.85556149898849,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1712.5890843919958,
+            37.25748528763518,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1714.0890843919958,
+            34.65940907628186,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1715.5890843919958,
+            32.061332864928545,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1717.0890843919958,
+            29.46325665357523,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1718.5890843919958,
+            26.865180442221913,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1720.0890843919958,
+            24.267104230868597,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1720.0890843919958,
+            24.267104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1722.6871606033492,
+            22.767104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1725.2852368147026,
+            21.267104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1727.883313026056,
+            19.767104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1730.4813892374093,
+            18.267104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1733.0794654487627,
+            16.767104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1735.677541660116,
+            15.267104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1738.2756178714694,
+            13.767104230868597,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1738.2756178714694,
+            13.767104230868597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1739.7756178714694,
+            11.169028019515281,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1741.2756178714694,
+            8.570951808161965,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1784.0,
+            -44.0,
+            0.756577
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-30_2132688302/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-30_2132688302/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59dfded160c3db4bd6545e1f220885a7ebeb3c2b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-24-30_2132688302/pose.jsonl
@@ -0,0 +1,379 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1356.127379992902,
+            253.19678180390824,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1353.5293037815486,
+            254.69678180390824,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1350.9312275701952,
+            256.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991512
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1348.3331513588419,
+            257.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1345.7350751474885,
+            259.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1343.1369989361351,
+            260.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1340.5389227247817,
+            262.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1337.9408465134284,
+            263.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1335.342770302075,
+            265.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1332.7446940907216,
+            266.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1330.1466178793683,
+            268.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1327.5485416680149,
+            269.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1324.9504654566615,
+            271.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1322.3523892453081,
+            272.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1319.7543130339548,
+            274.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1317.1562368226014,
+            275.6967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1314.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1314.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1311.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1308.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1305.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1302.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1299.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1296.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1293.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1290.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1287.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1284.558160611248,
+            277.1967818039082,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1260.0,
+            284.0,
+            -29.5371
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-50-5_505185185/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-50-5_505185185/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53a43d4616bed1e19bdee37b0bdca21b05c15707
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_1-50-5_505185185/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            550.6291406850122,
+            318.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            548.031064473659,
+            320.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            545.4329882623056,
+            321.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            542.8349120509522,
+            323.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            540.2368358395988,
+            324.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            537.6387596282455,
+            326.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            535.0406834168921,
+            327.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            532.4426072055387,
+            329.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            529.8445309941853,
+            330.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            527.246454782832,
+            332.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            524.6483785714786,
+            333.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            522.0503023601252,
+            335.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            519.4522261487718,
+            336.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            516.8541499374185,
+            338.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            514.2560737260651,
+            339.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            511.6579975147118,
+            341.4804434143597,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            509.05992130335846,
+            342.9804434143597,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            436.0,
+            384.0,
+            -0.096741
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-18-15_343886628/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-18-15_343886628/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7e6eb3c59bf33b366978728ac344cfd144426500
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-18-15_343886628/pose.jsonl
@@ -0,0 +1,496 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1516.548529894022,
+            -192.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1516.548529894022,
+            -189.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1516.548529894022,
+            -186.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1516.548529894022,
+            -183.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1516.548529894022,
+            -180.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1516.548529894022,
+            -177.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1516.548529894022,
+            -174.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1516.548529894022,
+            -171.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1516.548529894022,
+            -168.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1516.548529894022,
+            -165.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1516.548529894022,
+            -162.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1516.548529894022,
+            -159.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1516.548529894022,
+            -156.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1516.548529894022,
+            -153.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1516.548529894022,
+            -150.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1516.548529894022,
+            -147.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1516.548529894022,
+            -144.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1516.548529894022,
+            -141.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1516.548529894022,
+            -138.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1516.548529894022,
+            -135.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1516.548529894022,
+            -132.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1516.548529894022,
+            -132.54225252790354,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1515.048529894022,
+            -129.94417631655023,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1513.548529894022,
+            -127.34610010519691,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1512.048529894022,
+            -124.7480238938436,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1510.548529894022,
+            -122.14994768249028,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1509.048529894022,
+            -119.55187147113696,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1507.548529894022,
+            -116.95379525978365,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1506.048529894022,
+            -114.35571904843033,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1504.548529894022,
+            -111.75764283707701,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1503.048529894022,
+            -109.1595666257237,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1501.548529894022,
+            -106.56149041437038,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1500.048529894022,
+            -103.96341420301707,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1498.548529894022,
+            -101.36533799166375,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1497.048529894022,
+            -98.76726178031043,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1495.548529894022,
+            -96.16918556895712,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1494.048529894022,
+            -93.5711093576038,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1488.0,
+            -52.0,
+            18.9243
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-39-18_1594769883/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-39-18_1594769883/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d603b7db73f8ed74a4f7019a4d7dcf532fce280
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-39-18_1594769883/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1606.0107349879634,
+            -100.98516755126785,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1607.5107349879634,
+            -103.58324376262117,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1609.0107349879634,
+            -106.18131997397448,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1610.5107349879634,
+            -108.7793961853278,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1612.0107349879634,
+            -111.37747239668111,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1613.5107349879634,
+            -113.97554860803443,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1615.0107349879634,
+            -116.57362481938775,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1616.5107349879634,
+            -119.17170103074106,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1618.0107349879634,
+            -121.76977724209438,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1619.5107349879634,
+            -124.3678534534477,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1621.0107349879634,
+            -126.96592966480101,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1622.5107349879634,
+            -129.56400587615434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1624.0107349879634,
+            -132.16208208750766,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1625.5107349879634,
+            -134.76015829886097,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1627.0107349879634,
+            -137.3582345102143,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1628.5107349879634,
+            -139.9563107215676,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1630.0107349879634,
+            -142.55438693292092,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1631.5107349879634,
+            -145.15246314427424,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1631.5107349879634,
+            -145.15246314427424,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1631.5107349879634,
+            -145.15246314427424,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1630.0107349879634,
+            -147.75053935562755,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1628.5107349879634,
+            -150.34861556698087,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1628.5107349879634,
+            -150.34861556698087,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1628.5107349879634,
+            -153.34861556698087,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1628.5107349879634,
+            -156.34861556698087,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1652.0,
+            -212.0,
+            -31.1768
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-50-26_198619204/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-50-26_198619204/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c120127b00bdbe369b7e18053b2ac0aa9fac1985
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_2-50-26_198619204/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            123.34073381719261,
+            39.28582763851011,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            120.7426576058393,
+            37.78582763851011,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            118.14458139448598,
+            36.28582763851011,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            115.54650518313267,
+            34.78582763851011,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            112.94842897177935,
+            33.28582763851011,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            110.35035276042603,
+            31.785827638510114,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            107.75227654907272,
+            30.285827638510114,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            105.1542003377194,
+            28.785827638510114,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            105.1542003377194,
+            28.785827638510114,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            103.6542003377194,
+            26.187751427156797,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            102.1542003377194,
+            23.58967521580348,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            100.6542003377194,
+            20.991599004450165,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            99.1542003377194,
+            18.39352279309685,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            97.6542003377194,
+            15.795446581743533,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            96.1542003377194,
+            13.197370370390217,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            94.6542003377194,
+            10.599294159036901,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            93.1542003377194,
+            8.001217947683585,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            91.6542003377194,
+            5.403141736330269,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            90.1542003377194,
+            2.8050655249769534,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            88.6542003377194,
+            0.20698931362363737,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            87.1542003377194,
+            -2.3910868977296786,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            85.6542003377194,
+            -4.989163109082995,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            84.1542003377194,
+            -7.587239320436311,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            84.1542003377194,
+            -7.587239320436311,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            81.55612412636609,
+            -9.08723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            78.95804791501277,
+            -10.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            76.35997170365945,
+            -12.08723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            73.76189549230614,
+            -13.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            71.16381928095282,
+            -15.08723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            68.5657430695995,
+            -16.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            65.96766685824619,
+            -18.08723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            63.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            63.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            60.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            57.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            54.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            51.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            48.369590646892874,
+            -19.58723932043631,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-23_988506952/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-23_988506952/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..69316a8e5734653c5b7f22903a4bfd1b3a38b1ec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-16-23_988506952/pose.jsonl
@@ -0,0 +1,574 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            943.0505211542688,
+            1022.4329076736115,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            941.5505211542688,
+            1019.8348314622581,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            940.0505211542688,
+            1017.2367552509047,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            938.5505211542688,
+            1014.6386790395513,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            937.0505211542688,
+            1012.040602828198,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            935.5505211542688,
+            1009.4425266168446,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            934.0505211542688,
+            1006.8444504054912,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            932.5505211542688,
+            1004.2463741941378,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            931.0505211542688,
+            1001.6482979827845,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            929.5505211542688,
+            999.0502217714311,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            928.0505211542688,
+            996.4521455600777,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            926.5505211542688,
+            993.8540693487244,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            925.0505211542688,
+            991.255993137371,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            923.5505211542688,
+            988.6579169260176,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            922.0505211542688,
+            986.0598407146642,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            920.5505211542688,
+            983.4617645033109,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            919.0505211542688,
+            980.8636882919575,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            917.5505211542688,
+            978.2656120806041,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            916.0505211542688,
+            975.6675358692507,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            914.5505211542688,
+            973.0694596578974,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            913.0505211542688,
+            970.471383446544,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            911.5505211542688,
+            967.8733072351906,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            910.0505211542688,
+            965.2752310238373,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            908.5505211542688,
+            962.6771548124839,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            907.0505211542688,
+            960.0790786011305,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            905.5505211542688,
+            957.4810023897771,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            904.0505211542688,
+            954.8829261784238,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            902.5505211542688,
+            952.2848499670704,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            901.0505211542688,
+            949.686773755717,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            899.5505211542688,
+            947.0886975443636,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            898.0505211542688,
+            944.4906213330103,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            896.5505211542688,
+            941.8925451216569,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            895.0505211542688,
+            939.2944689103035,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            893.5505211542688,
+            936.6963926989501,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            892.0505211542688,
+            934.0983164875968,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            890.5505211542688,
+            931.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            890.5505211542688,
+            931.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            890.5505211542688,
+            928.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            890.5505211542688,
+            925.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            890.5505211542688,
+            922.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            890.5505211542688,
+            919.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            890.5505211542688,
+            916.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            890.5505211542688,
+            913.5002402762434,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            884.0,
+            896.0,
+            -29.9978
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-23-23_1955769409/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-23-23_1955769409/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..65e55d8c9980777aa8913260ebdbcb53bbffe6da
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-23-23_1955769409/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1076.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1073.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1070.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1067.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1064.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1061.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1058.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1055.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1052.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1049.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1046.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1043.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1040.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1037.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1034.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1031.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1028.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1025.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1022.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1019.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1016.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1013.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1010.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1007.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1004.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1001.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            998.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            995.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            992.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            989.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            989.591448800388,
+            645.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            986.9933725890346,
+            644.3639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            984.3952963776812,
+            642.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            981.7972201663279,
+            641.3639111775093,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            979.1991439549745,
+            639.8639111775093,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            636.0,
+            0.96873
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-26-44_709606368/pose.jsonl b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-26-44_709606368/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..53ef5943a7d75ff19209b029f4d957c5e2e2ab91
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average/2025-1-9_3-26-44_709606368/pose.jsonl
@@ -0,0 +1,249 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1698.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1695.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1692.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1689.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1686.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1683.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1680.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1677.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1674.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1674.2202175457649,
+            165.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1671.6221413344115,
+            164.1437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1669.024065123058,
+            162.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1666.4259889117047,
+            161.1437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1663.8279127003514,
+            159.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1661.229836488998,
+            158.1437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1658.6317602776446,
+            156.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1658.6317602776446,
+            156.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1655.6317602776446,
+            156.6437630098075,
+            -26.888958510984654
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -3.1415926535898024
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1560.0,
+            136.0,
+            -29.537
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035121_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035121_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..820038d378d65d0a4b5277a613d20660bfbae86d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035121_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3816e7eaeb9776931c93458a7711103db230f22ee85c836093b6743c7ed13068
+size 601493
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..73f141fd6701e4df960ea1546c36e6004ece78c0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b3d349b83fa282708b4bcce424da967dbf3b4f6388b464078e50a84db20120
+size 625214
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..782006d98aa8e8632febc72a5912c4879bc6e880
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035122_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecb21c60d4ef5df04feb9c8aa2943bee76b5467396ec226a03a4fddf72bc5f6
+size 634386
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035123_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035123_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dcc53b41d55d1865b0538f327db48baf4e9acab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035123_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7ed2693a2ca6974f3f8817076a5552e93e5b8c0472ac5af88a251e05789ad2d
+size 652111
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035124_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035124_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..5dafc77599e107605564429a5bd4548051c5606f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035124_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4139e1f32a601e3be7a8be8115af594c7001234b7243567d9006b5f69cebff8c
+size 646176
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035125_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035125_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c5789b84596829501a0c98bece5998bd2b6b45e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035125_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22332c829d89adc6d5dfbf0adde204bd5dc8c9aae58d4a611009c8a03f6e8009
+size 633942
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7c8bdba3ca7c048832b0d394ccd7d8d30afea2c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be5941cdef174db65adb4f973a5fbfc40e656b4f872560c9b8bbf2116eda20b
+size 628094
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..383f590e9a617bf81830fdbe0ceb91014204519a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035126_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4abf7ac65e564ab346da02484e91905fcfcf777e9ddfba1d836ced02c704a79a
+size 622077
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035127_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035127_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..b309102c88803d5b400483051bbd844d186aeefa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035127_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d83a4ecf54908c23af063918a69078e138d726f794c6e5043fd6322ee1b19a7
+size 618318
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035128_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035128_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..4677fd3b0b527dfba368bb0b244993788b60bf17
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035128_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e47097d8ea3f0d40e87f3206a6f02607366efe386f4336a5ffa0a0b55c98ef34
+size 617236
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035129_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035129_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..647d0914a5c0796e73d15ff0659baba7be4b99a0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035129_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10eb2ec5bd247bf51213e6fbc00fe629a3082a616a970b36890748851d7f76af
+size 618838
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..848281b25b6c60fb299b775b7c2603f66b5771d4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0177db0322a15b99b7e85591167a116f3008a81a29ff65dddfcf4b8c2b2d75
+size 617648
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..b076375670be6a90877c4ce5d30ee4b28a740d83
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035130_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22518133a7a6783cfb84434ee01f6e7af63413c012ed2ff2088244b89ea1959f
+size 616630
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035131_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035131_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d09919f7de36a0f65265e790686437a321d09bb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035131_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ebf15c49550f12547408cdbe70317120279a6def0c4d06ab125a23538a20002
+size 619112
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035132_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035132_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9e72aefe96d5fb5e3c89772e6ba9a7ef8625e5e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035132_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b7d30f6d750aa43c606bc20a35ededce255bda6f9ae7721d4a4550ac491f46
+size 622152
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..264d9aa40f94a9c78ef5c5b9d26ee389d734306a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224683939b72eef49de5ae7c8bd508c5fad1d81beb09bf81bd93d3eb5620fa7e
+size 627050
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..9df44db8d17b72866210783ad6e6a2c67651beeb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035133_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3563abea8bdad191149e6328a87650ae90497a82d7cda7edb1059dce84c144e
+size 628842
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035134_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035134_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e8a02803568bc35ce69d063c8c0f7615df0a75f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035134_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e73f4548842806433abcd2c6d9ff9b0814e2391148c426488961378f794a4a1f
+size 620857
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035135_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035135_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..738af15792eefdf43861663cb805ea22aee49f02
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035135_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fda7234941de401812d2ca3ffce4961d30df159d09b69431a585ae4ec13877b9
+size 618319
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035136_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035136_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..262038f7574abe342cc79fb9aadc03d4a3c898ac
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035136_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a33226bb99979f269a7a96de0974bc5d0aa114aecd218808da3dcd86acf1d6
+size 611911
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..48d55f9a83a7f370b8c7103f2bf55c22e0b9dfdb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27a3df66c78d0c158cc7f7a9f6e0486d71c3d8b5722f26bb74eea8401e362ad9
+size 662202
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..d38314a8145890abd00b81bc9bfb47c13fea1030
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035137_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dabcbe82bdce48c98dc8d4efa2c450f926eb717e696a3e926fffb89a0f7a60ac
+size 695668
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035138_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035138_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..027d7bd904cb5b92d8e1ea7022e1a5f951c9143d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035138_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f044329e8a34553f87d42edd356a19579ebb113d5fbb46240c76c56bb1e1b2
+size 727853
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035139_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035139_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5366e56b1d8e3141c0c6da3ae8a45e11f3a7030
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035139_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deee74a883ac0d35441ca6b41630390ac80c997cdc12f9c2f6f9bac133af7607
+size 767083
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035140_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035140_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff1952aef46afec470e75b49d8fe8212de0e0d3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035140_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae3eb49a1c89380df7cbf546c22dcda2106b38d0f3c9959b57c95b95ed472fc
+size 790720
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..53a1e53e1ed63d329d0e41fa96fc8ad0f9d74804
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86a81c1400536d364288639a37f16253a4e42bad17516d390989195d4f689f5b
+size 795760
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd9b005bb94198466d903cc6615799043db002d1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035141_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48deb6b57867ac6b0fc48a0dbacac07ce82aea285445b35559a8dabcda733b34
+size 799877
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035142_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035142_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..e898b8c4579248b6fb626cf655e8f027b44e19b7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035142_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7a234f7d7fc26c5376d2e5608fe326df35618c6e9e710c0ca24d71bdfaa677
+size 799325
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035143_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035143_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab2c8af5b511f0649245cffea7a8ff31163733c1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035143_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b8f1f4788bc13613120a01c48f44c76e3bd2144f40481b7074d517193582a8d
+size 802851
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035144_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035144_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..9bdfca667c0b63e4404f6c9ffb10bfadf2f54177
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035144_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a472e6af9f229f05528987bb14877e65ee4b94e75027a6e8e56bf00433d41547
+size 802381
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035145_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035145_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9d55362e2801cdc2ec5a1d9e692a5a7c8bf8068
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035145_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ba3b8bb42efc69c844d1accfbe34c73142857d43c09b6a76f12818a229d1d05
+size 799286
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba932f4232323fb26ceb04158df7ac4efdac2c9b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd4fda505c6f4b22ae7ab63ed36e8081b83840e6e767258aee18393ac26c2d37
+size 792403
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a0bd22455f6edc9e6772cd4cc78a821a068b58b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035146_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:274e31919573d6fc289d5560364ab403d48e26a83edbec0291b03a57cfb805e6
+size 776995
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035147_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035147_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..93a5f01bfefeed6cff11e8770ab433be44cd2a35
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035147_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a61e2934bcc436fe6c85f390097a01d8f40e8e5b437c0fb7878bee9912e48d9
+size 760263
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035148_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035148_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..3916c4154434cf214b8aace7053773f928f32250
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035148_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a4715fdbbe55ef4fdd5b04bb2fae83725dfac4a89721f4a1c55b0fa9c3b12e
+size 748797
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035149_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035149_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..c552f72e8e23deb5a1e9ecffb12397f0c9231450
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035149_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b07dffc71fbf9f5bf56e64ff3ab843cadecb73c0e7316cf74d6dda2e587e20e
+size 735789
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..17ae371470105167d7674e1a20bd73f7adfcabf9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b84790a5d288183ca84550f97dab02efd7e17cfd5fe8987d37d8b3e47d777a9
+size 725593
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4ceb2afa5002361294f7907c279912b92dbb7c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035150_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d7e122fe0808576c60853efc4d56385e947c6b3d746d5ef41a52c259cb2ca3
+size 704472
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035151_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035151_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bcf6b5566ad6b9221a27cea6308fb78ac075e95
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035151_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac625bc7063b7e98a5770e312fcffe436249ae72e4a17d5124af328ee69c53c8
+size 713374
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035152_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035152_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d2f5b4b63bc29ab5323b68a7f90f5fba07e5026
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035152_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e583cb9df9b4be9349c69af3d8dc3c7a0e8e638b2bc9144644535e55b748bc47
+size 724739
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035153_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035153_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a05b7153c60570ff0d0a5d3b7f6d61016177c0d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035153_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc42b43a2de4bdfb13b7d7a312c9c146af5b142d29c6ba2a5c0de833bfd9ac7c
+size 731190
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a271d1f53964fc1c6ab47f2525a6ec71bb61edc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdb904771c6fbd803d5e6b034c20e604474c7ddb1115e6c1a0d252e9d91aac9
+size 727294
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..c9f09746f130e42f08f7d0615b3996622fdd2e46
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035154_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91e81db33aa9d964bb975f296d7d6b9193ac4a84c8894d73695006d1241ca3dc
+size 717718
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035155_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035155_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..05049d2258e722c89624107754bca71648d1cb40
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035155_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9914bb4a4998be01b6097430edc7f125a2c00aecbe52ddd87e7ebd36a798a1
+size 705609
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035156_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035156_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..736ce76a5092f64f2dd28c44a624d24799a341cf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035156_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4033bd1f3d810d092fe747c46bfe19cd24c831bc9b7bf8377561e2d8e3f3912b
+size 673208
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035157_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035157_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..1655be6c27acd23e7962474b71c14be666a68a6b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035157_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:452cd37a027fc43ca304ac2379ae8ef3c6440298dd634b58ce773f13a9f4bb54
+size 631053
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_46.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..63ef8918d68bfa8048df369dce0947a4ea1c3330
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7802d5fb9057e971ccb366eb589a1a5c1f7e3566a0572ceae2daa665268e367e
+size 641534
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb40600f37559a36c492fba3963d7abc57a4bde2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-01-19_03-51-20_955318/20250119_035158_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0fe5b95086ba286bbcfe9c64ec31d5917e9086331a93eabe50ab950619e7847
+size 644672
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015429_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015429_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6ac0f5c1a9ac6d16e13666ac272385d8a359ec90
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015429_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417f16e955203227d40f35db39a149534060b428db432b59b65d59c55f25bd50
+size 750907
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015432_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015432_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..645777ff86205e4d5543fc51c51624075e110a7f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015432_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53b45cc8f840e2408b5a39eb6ee847d1fa3b0984f21be9f742dc23725448f5c9
+size 732718
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c539243ee99eac3dd6c7f82112860175e5f215b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65e5682364bdbb59ca1967258afe9b3ed08a9470282dbdf9c2eafead0fc083d
+size 726836
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f221f7503c6a5c12cd1dbf13cf21a25b8b2a93c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015433_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c87b68a352dd8ef6e10ea59761d1d63f7719e9067dc410ca05582bb39124af5a
+size 708482
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..17a392868b3865f843c2c0dd15b0f3541e76d05a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49b4c241a1ee03149d1c3b6b94e923355819684cc961f1695a63f3f3f7e5f70e
+size 697254
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..c099515f38033accfa5d464c98e33461e622c267
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015434_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55fa33e23377cfe18fe7341f95b55b31150a559e727eeedb6957d0411313bc0
+size 690813
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..04f8580798226f2c44cc045ef2e7c75812333d87
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b42b2d879251f235117e358827bf5c42378f1afe2116c9b0eebef7bdaf118bf7
+size 684159
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac7048c048fd90a9592cb55de7ab547047719560
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015435_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5808f1750cede05ff69a7ee8192d069b9a3e01d2a12f7d4dc94aa833115cc408
+size 677745
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f67c7ccb0d742e112c86b9776d1fc26e552e672
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9c3976e7845b5b6dd236aa77ad3096a0514a84c3893018ab46c595e220bb8d
+size 678756
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a341bb89742704a34158c717319ccc4edf68ccd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed1ca31b5b0e4ffd27ba14ac55478ea978d917a345cb266032297422a1bd5f3
+size 681474
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..b114007fd6e8144c5260760dee89dce53db0287b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015436_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03de10d59f824676e2bbeec598bde39a9d171cdce69628a61b129f5acef9fd24
+size 679184
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..355db9ab80712f5e2880d26434f18235e9085817
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b56f36bf84810d94b55c27e70e1aeece4cfc7d34b8d4d1e82b1fb30f31bcdc
+size 680129
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..85095edd75496185b39dace4170fdaf8c8470d8e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015437_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948991ee26af0597f8c228ed61beed50b083b6075172da1e5d92ae912ce429eb
+size 676678
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc48629f0ddb0fe1579f8a66522ce3c845dac6a3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4275dd0f9e15087a356217a09bd60b0959c5b40d1795fb78460b2de42b683ff
+size 676045
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..716690e73ede53ff724931d6b28d7a8fc40200df
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf2087d9a46e486df3c5917abf67bebc88471b82e3d1c1c9dd3ff946cf18e65
+size 676004
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..b888bbce5fd486f45fedfe6322f39d9c4ec91acb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015438_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc07d8bd7ca5d3c8551786a9dd23124e119901dc448e2307b1a505c2826529e
+size 672743
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f7a54da92d066cdd5b9631cdce7a6420fa4aa3c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb92dd5dec4181ad160ae712542d8e27aadcf1ce427c53b00c5d780375a97f6d
+size 668819
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..9ef6b53acf0625528f59f5e7ec211eddebaf3122
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015439_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e31eac736e90150285290120e2d83711620faf08849525e47897a1b7ceb4a5e0
+size 663974
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..39f90cc75dbe4a008e177109de75c9dbe7fcb3de
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0ed46e7f467d1e217ce068e5c41f1c084085fad2ebf73d9cf870d64ea852bb
+size 659748
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..decd80617ad07d304997986d501135070b6ea6f0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61c5cbfbe99534bec55cf2c70757e3efb07af8247fb99dfba792cf891489e8b2
+size 656002
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab4081ba46eb1d4b518873783de8a40579a4f65b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015440_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1422f9cfca32df6491748ef1cfafa9f9dffbe89f978557e36c9c0fbe74e915c9
+size 650902
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4717ed774e4db14bdfca400ace0e805010e4c7b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520f0922c809dc5f506a4e221ff5b51a1cc3b988cc2cd56ab0ab196898774b55
+size 645603
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..512d946a869a43b0482a3251366f3ce4a7015dc4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015441_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85d35c004778593bfdf09ea6c76886f528668c6565f2e6f14d22b1533f78aa1
+size 640450
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..391f950d17fd821077049eb81849eb2894fedb9d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c8f9184dd9b27d75eb377f9220fe83e03bb37fee257dea5bc81601f3aec079
+size 638778
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e54bb0db43e2d353b3927f62cc861f8e2ef3843
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015442_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3a116167637eb4041dd720e30cfce24941032f20872a98de2c57cfc795befb
+size 638064
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..4b1f403634350af93fc164a5ee6489a22a297283
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04b2610995977b840557ba1e31b4ffe894d71dde16cb56c53e1cf61c8e318a38
+size 626329
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f848a2aefbeae91c568234f0c0d60845b2e363b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5509c13cd5477cb8897b1f4e59a5b03c0f10d2d358bbd8fd6c32e5247783508f
+size 627503
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6764ab94b3bad2c97826d8bfcade89d2b62fbfa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015443_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a9414647ae17932d68614c6e6f4908d784aab8cc4554527de9d1459077db96
+size 621792
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4012d73f868cf12905b4ca313fb71584830dbff
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:665465d05ef7feff684afc8ed71199fa3c478871ade76a356415ee680a989676
+size 625145
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0e57c00917fbbb2dafffe0e94db3795898ee4c0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015444_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b368fdd1fb73affec2e4dd1275db57e958f91546bdac597e8140d40a4eef5648
+size 625029
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..e57f3d074d64fc91749a1f5b88218bc12501cc4b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ee2b3b12bdd5c25575b8e79485b90ddbf4753186c217a407263b4c93d7f58c1
+size 613771
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..6163656b0f21907a40c02d8919c1056f83750378
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015445_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba6e37617f97499dee55f64ba29b5bbdcacf9e646a75725c77be4efba51ce1bb
+size 611734
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..87a75734648b2a0d5b91497b95582bd60f27dc9f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fcf25fe1cececbe0fd7f9f3f0aadca903a86781e199f7938649dd28d1447c2c
+size 609319
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a5d4423f4b7cffbadde56cf543efb248a225f7b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08c73ca60e1f30fb6dde2fd4c9fe1ebb8e1630925c39612eafb00973c5446f83
+size 611690
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..a63a5e0f5d59fe66109f0fa19c6a17289d915d02
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015446_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc37a7b8a628c2470c88818c3d77cdc9c9b454826ad0ac20045aff2b0c98778
+size 616061
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb5cb12d7e1cc90426fe9877e83414e06e0e3d49
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acabe5f431ab98c617abf13857db6aa495269e6230eac48fcbc205c18901f80a
+size 621225
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..eacd0d37342a0a428a0390fbe75d314220e23e7a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015447_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db7888ab5b8e955904684a4871127fc2b18ef20fc4226ec6d6093454ac94c70
+size 612318
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..862300d7bb894f079396f190284f78c74c14464b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4888bcce2fa810d248b96e262f77edc20577ed64ff0387dbae3f1dc5403366f3
+size 620115
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc4096005ead623b1db5757a31010422d87ca2a4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7835618a68171737096fa9607f0dd27838f2eeadab53fc586e619e04da82b665
+size 638315
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..56ef0a3baa0b50e87ede758a310aacd749104edd
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015448_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34bb674d8883e185ab5daf71a9972f8a387f284c6fdd57d72df5ff0d0dc5ee63
+size 641097
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf4fd5e384b29e8aea430f103b43bdf177420b89
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918a56bd4a9dbc8d0967db489bf86bc03b0e740e4bf8eea8fcf4474c25de92ae
+size 638777
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..4885b02adfd244e305514950c7b7fb24c839d33d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015449_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:396dd9085e533376cda9060bb9398efafe27e6639d4549a6c885d74a0bd26049
+size 650575
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..3aba7fc23853632d1265b5ca63cc15e0aff0b1b3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ac7cc89f03665168eacbfaf2c9d3cec9614c82c271e903368d8a8dc4d62534
+size 653425
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..1109d90ba645b9799c184d1686e906224b9dc3b0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d562bd05fd123cd4c6e75889f11cd3efaa547092229bfbb3a193ab2590aeaf
+size 668643
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..01ed7a4fadc7b774ea592df6b8cf3660761d8b50
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015450_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5a695539cc75cdd9a1647f43b37e535134ccd98cdbcf6fb7510dbc3c7a2fdc6
+size 675408
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015451_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015451_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d361f738d7668e78877adb3a518fff04f4f2788
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_1-54-29_2001229904/20250114_015451_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d4ff1fb4dc5d268b88b659e95dd45493c652239552f32ca2265b9578bb47071
+size 723398
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154748_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154748_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..6216578949a4d9652b5857f441dd9a8a0ef54040
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154748_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fac858cf5d952e3b6c931068006645870b5c43c226cbd371b22616a38e4ba1
+size 782242
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154751_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154751_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f9b4a8328b2c309d9a4f661ad7c5f5493bc26d9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154751_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dca7fcb7fc516ec4103916e606195f1801df13f0e0a4d7845ee8d5379093903a
+size 780162
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154752_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154752_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb29b0dba9e6eb8f7e420edbe7b3fb8d689b5f4a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154752_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:310cce31823f8be880d17d3eabc99b3e93b90e09da943131734fc8f4ea739265
+size 780746
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b39d71479fc92bf2ecb987f8c0e27f0a33bb2c6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81b04c02972b923c4129d4f2f017359da0d4a9343311987e9b9c7cd3aa3e308d
+size 751611
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..19a01691e44ff171e861e182c2c1dca942ae503c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154753_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:047ada1120379b8c4644bab3c8ddb66bdc97501cbe3684c7d1053672c40d7d25
+size 747674
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..8634cd473f192c47d2ad700668d5977ef2d1e3fb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13ef3b5f64a02607605d811049b0fac2326fbca4c444bf780114f6ee0d7dbaa4
+size 742159
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..0596862fb97dc685ac67b9f2591d29b0780e31ec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154754_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a579497e450b59e49d2ea84f4178d9acc7eae5510bb9e66e9f0f140b013eba1
+size 738656
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7d62a1f3fb66930e024c0f1bd46377d3d6cf3bb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17569d6609ddaca2c87314491e324f3781ca7e777db38faece5ba5c6232a42f9
+size 732852
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..551fb874535bc185abd76dec6e1b33efda2e305b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154755_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f23ae14a8fd85cd9400f2e64811483a303008d95f19ceb71abd61d9dd247a3f2
+size 736878
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154756_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154756_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..e40aab4d7a7eedc01f1da04124af26503e0f1642
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154756_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1680ae506f915dc83ced0faa2d198decdedf392a25cca62f29c1e1dca8014bad
+size 737098
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154757_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154757_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c682fcf66d88daa7d9a67e773c11210c628f219
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154757_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61da656e20b0afe33a1097d42161745ddf43c88f36ca5845da45c01bc31a99f8
+size 739974
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..39272b05514b44caa5435907078fecdb42b27823
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e02150d9f1070915484a71732fcdd0841c1e32ddcf91b2614b3a0fa3001667
+size 744818
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..19d19297adbf997c20e3d8add649278d484cd9bb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154758_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571d68e4ed84b569e6fd3569c2ce7cacadb6ebd6e4efbbcd6177eace2dfe3931
+size 746044
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..edd0d8fc158a6314dacfb316e2bac0b1ff2f24fc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc85f0bf846b3d1441d81637cd62875d1f5d8a1d140a01ba5ff0a430b773e9c
+size 749184
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..57cfa5aa499efd276a113db47140dbea70b436ad
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdfec20eb38b291b645c7592791ac576b57afadfc2b3451823d3c00785c7a8b0
+size 752184
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..6898437bd5cc6c4b17657be6e48555b0dcdfd617
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154759_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f641a3a0f2de869c3896788e92418342b07efacb4824b96383a560af85e31ee
+size 755470
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154800_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154800_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..47ad8def62e63e6a59f2e32b96df1992e66554fc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154800_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a88ed08e4f41a523acc55eea897dfe2bf7b145e2c37d0744602d5bfffa6080b4
+size 757903
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3274d47d041eec24e979706be8c9541301278e9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc81138ea61070ab9393490f736d798ac15afd23885577a50a3110a35edef2cb
+size 765441
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9783f53109ebb72e505b7ac42c3174b2af54e4a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154801_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c096c643345b552c86da72c2f35c35842559d244a4f6a88d405071a51609d8
+size 769261
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154802_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154802_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..c840a9692936035c001615d4178f6c056e856372
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154802_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed38483f567766626ea1f010f533f4c72492d311cc8ea8719750db032cc3f9eb
+size 773678
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd590dee9f44c1a9b906d2546fac09c9e040aa08
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b406f717f928486fcafe2e939ace64bec73750a2c670dcc2604ff01c4111f8
+size 783169
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..52d41e9c57497c946e21b74619a7debe27258588
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154803_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:586b1121b253ad24e8f03a47debe83b20ca79d5687d9cba35c4653e9e73ebaa6
+size 784359
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154804_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154804_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..d02f7d688db5900506e9905dd9966fe06d82bce6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154804_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e040c23149752f34faca542f2bfdb4ae76581d4956a3d096975cfe3c7c937f3d
+size 797897
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..3b267406b181a05b6ed7742ae7462153e053bd4f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:312370c7c7de7bb9d523f92e3548edaf322483a8368636b86aa975c1095489c4
+size 807828
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..9684e9f4f2d74dae2bb4a7e1b2a8f92ca47c56c1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154805_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e284b7e073d7f21d018f77aba392db5f33997b8a3cc0eabae16189344eb0094
+size 811702
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154806_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154806_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..b2f3e287245d28b850828cbf4515c60cc0173b1e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154806_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9808c20e835ed5f139b26cca50c14bd2c5b5f12b82f59b75f7f8b0822b3354f
+size 814298
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154807_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154807_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..10ed866cbed15bb6afaf3615fc46a784c6d18cbf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154807_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69ca9df56578effa7a4c10ac5b444f418c8f85e460e3c214d4a84b1fb71c968d
+size 810628
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc37092b7519ca3ef0f4d1c5c038b1107d55b419
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43bde93b946954fdffefaa76cb4de0fd1b1606de96c0848b7dfb483381524f6a
+size 817562
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..c469c89e02d9e4d6cea6f2d5d12ceb57c891ae57
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdc95397655ff32b2169457a70224b8f8af0c34c8b9078059aacf223a1a68d98
+size 827897
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..5437da6753986b9834a0dd1d858e288be965feab
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154808_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aacd9661f834d64124b906dcf2249ad6c192b8df8c93ba271ecb3ddfaef6fe56
+size 844944
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9d509dad4a7e50a91ab8a3877a4f739bf6b69eb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb93a72d1fc19dfa50a9d384d6835c824efcdef887a87276c7e86d79f3d699f
+size 845583
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..d387076a30d5eebeb953a944ee1e8942434e93b2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154809_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19a5822fbd601795cf5f1053f40a7fe5fce2e12f7d9f13782ba665aefa8af380
+size 856089
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154810_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154810_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bbd5e0f4b6b57b41ab212c3e6e609172b9813aa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154810_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b983e5e3c5e223e61d471dd6f0423c8efb88909963fab354b9346c01aff56b9e
+size 836691
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d2a47162a8599f0f56fc7ea22f98a6210aecf5b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7c92833289a02c80f86941abc4a47c522106090f7c40e45a98b6c8af284d0e8
+size 848672
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_46.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_46.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d41e26ed3830b19779639f33a117f7008dc1dd8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_46.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b852ffbf852b46f2a1463bab54a871089bd872a20ef007d13efb5223286b323
+size 851470
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..34a927692d8a2b2289af5ab48718acfb110ad5d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154811_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b76334ebdcc00fe73d352a4771181fe287220898f400d4075d5b04e97a4ee6
+size 844601
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff4bb1227bc9951e1105075734de22b17f629ef4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afb843ee9bd00f5242600f888981e79bf2493337150e0fc9bd3e7f16bb645de
+size 846819
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e8143e7a657445c59b9cb9ab49d408bae19aaf6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154812_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e6c13ee8f99660f23ce6cfcae1405c9acc41493cf601cbb2d5a47eaf5f44eda
+size 851297
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154813_50.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154813_50.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e952244b73feb364e8cccca3cacb8fdd676f3d7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154813_50.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66357165ecc86626c3fec6069fc35a4acc68d67ef7a1b7fb00e1f252cd62b461
+size 850382
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_52.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_52.png
new file mode 100644
index 0000000000000000000000000000000000000000..8aac2f14888c005edb4e122aa1036a86c267fe8b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_52.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb51c31f12ea75ad87ef02ca61b60516cc56502e236c8801e14b597453ce8820
+size 819458
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_54.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_54.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcf04ccb6fbe9fade863ba28ef334d25afc0e328
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154814_54.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc343dc8786352d794c548dd11b7c092cca03bbeacf4d1647cbbf6f935910f9b
+size 753517
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154815_55.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154815_55.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1f8f81a815b27e3591c07df2f83cc97f9f76e81
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_15-47-48_1586903190/20250114_154815_55.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3233f0c34466cf1d70208917a2d2a685d15780e6ccf1af21ef6625ddd69354a9
+size 781911
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021949_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021949_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..afcb8cc0156c962a6db18c694e374a413234744a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021949_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33cde9c2c27f1ef5262585476ca986c7ef9a63fb20f6525d31702e25628f4b84
+size 607588
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021952_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021952_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..24eaccda06672bbba0850d2cf45b39e9aed3ae06
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021952_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aadc2462dd470e14d9d5b9af69390cb8cb40cb867a82a3ad924438ade2ba0a5
+size 619026
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..54fa19c2a4c27ef0f2a3deb978b8f66e35f27aa1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ec5ea1cbc834b3f7d07a8cdfe8ad8a4769bee95badcbfdfa3a7a3a164d09ad
+size 648509
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdecad3e95ff1a1315b587e95e1a4fa4344f3aa7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade81edc41dec60800b3818b368cf60c824804b794d746670d7b31517e6df0e9
+size 663712
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..4803942a7a2471bce611aa2b0cd386ab3bc34ffc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021953_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b34107eaede1514c51c6d0e79ae2ce1b27493f92ab1c4eb6c7b1fc7870b884
+size 661766
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..afbc860e473e3197f85458537e132db09b8d9652
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c51ca6df6f83e32ac0da12f85c9a8e3aea700524b5b4fd5cd586080eb659a36
+size 661387
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe7bcc62bcb88a70a2791e63e32d97448c65259
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021954_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b26eecef1ea3ff31b9887874104fe2f20385209429dcd8eef8661f4bfd0a8e0
+size 663097
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6df7bd414b70e8b49e98181cb4be8f4c025626a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1716e20169d81063a3a35c602f514713626890ce49b8ae077895d92f97243624
+size 660030
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..e86595920dc873784f18b71d533e914ff0b08a18
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6492cac41c87e8df1e09e38bf89933ff6d03c0dd8a669b09b6483382e65d17c4
+size 659113
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..a152e12ddd3d60b6babe0866ce03fb9e22064c4f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021955_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b51b14b1fad074a380d8c4154ab5f351ab70aaa3c188eec611ac45243a3e52
+size 657738
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..48d84fa856e65bb8c05da2a74bf1f0fd78e887d2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21010e96638d0f9b99cceadf781097cd8f9d39a7372e692556300b176a804b18
+size 656382
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6496b68320190bdbfecf573b1244eacfa030eee
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021956_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5ccca3a7fabcc436c0415cad130b0be741650b1b1fa6d2941cffe4b2b75d45
+size 659872
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d29a2cbf5ef01271a3f7e9f42dab4e4a170d929
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c01a479e178eeb6156de8290242434185b815fbb26f5460baee9a8f6fb8a9a
+size 661604
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..16e0fc7953ec5ea27021354a58fb97f67e4d6127
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4f0416f2fe356c9b936cb34e2b9066300340baacbe48995ed4b2409d0a9d0af
+size 651026
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6f8502c32ef1df529d141ca372b4f919ccafd8e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021957_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39475663f7823b5504c74ed1d019af7d7e8e6184b4b8c192fe8d516f39e26c34
+size 641720
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd5815cfe9ca6d35b644d2a3a1114dce6047446d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5050198dcc0b4342adbc9cf670630d04636b2e91ad545a9c62361b42a9b63da0
+size 632151
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..2114df2e9870948f80e6de70893c0e397264afa9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021958_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2ab777e1b5653cfb06f6fe659d945b1cdcfe8e943400ecb0c7c1318c05a139
+size 626378
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..16d6bd6955d383fbf186e0062c52e8300fc934d1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f77af8292f303616b4d7ac4419b4eb3fb661afacace05d81af7f62d2a8130cd
+size 621502
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..40b5abf2040ad70e038528655aeebfd8e4c16f90
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe99d8b21c24cf1629722fba0b9d24b626c760d0b65a501c0b138f6fa66c9d6
+size 619080
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca5fda31be94003a793c5cda7c2b1eafa6ec8457
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_021959_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17e38c015efb8a6b8038987332a0cfa7d36157f068afc2a814dd94a4cb92f4fe
+size 614679
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..d292a3a6290f19c84efa4af993bd824d23d0aaa2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715db989cc97ead5f2cde905929a5f614e8d1eae8c14c00477acd78e705e9f7f
+size 611486
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..b70b6e531655b2062ba58f0c4a9ab0a82667db7a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022000_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7edde8859516f6f31b0fc68e757a56669987eafce8ea0118b14fa0902d106cde
+size 606281
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..bb6e26acb62ecd03ba723733b7f82e3addeebd0a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf81d6768f7e761a4f94eb929ac4963805b0957aa00547e006d69142301a1b70
+size 605652
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..905aa5516cfdc6f2fca70f94ac6136c1c98ed9b7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022001_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9706441ba1ce92daacad356cd8b32bca385943b21f3fb528e3079bed65eae30
+size 609979
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..766b7bdf6575e4744f2fae855b2e444da3a12f3d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11c65f9d6edc125a1007714d99247bb6b8890e782fcc6267df3db850d3475ec
+size 677562
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..3726c89b9a8bf262d8b5a4c71e1b6972170f00d1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baa3884be04f3356d3628faf99fd32a26e71b96cb8186f456aeb4cce430fd50f
+size 673559
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..42780dcab6be9fe2326ad38a57d8c0126a072fdc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022002_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d47caec616ce4bfc46cd26f4eddc6f749355e38503c0dec09432f25055b1f9c5
+size 671463
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..54e6d22830095cd5d836e3b608871e761ae8b06d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6dfe808e5a72dd2e7a72f714493530a5766e5be67dfae14a8811ed5ff61a30
+size 669383
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..a46932068b73db2db5ba9adef68fd29b861309c1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022003_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d5ab080c99df90f8e394318ca6c3bee2eb8a7f1eaef6ba0ffcb98b3cf3b6bdd
+size 666182
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_29.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_29.png
new file mode 100644
index 0000000000000000000000000000000000000000..f2d45560422f927e5929c612b701395603f8d7c8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_29.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31dd84b1a8bc330226fb1c04e70fc47454bc30416928f3236e00d5d5eef5aef9
+size 658540
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_30.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_30.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa294ddcf318a997e44c3b4414f90af633b5a239
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_30.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8398268908674d7da8d8855e20d5e86c3651d4c9d581cde68a4dd9140e680f7
+size 650473
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..713736c939e1cf14379798176f6a9113d2ff061c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022004_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:670340c82f43d3efe45b93d7932ae61947537be2091b739405dc8dc144687dae
+size 643148
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_32.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_32.png
new file mode 100644
index 0000000000000000000000000000000000000000..63254d9c9a88d6cbd6dd9840bd31607abf0a7d80
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_32.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd25586ec2f13242ba148581dcf260953924d177104c721021304e58e11fb5ba
+size 636664
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..c13ab2ccae992d1b6f636cf14656523c092fbb67
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022005_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67bf85fc2b3e234dea1b8775e9a7f5bcdd8b8f9e4490316dd6ab28cab4873760
+size 639021
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_34.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_34.png
new file mode 100644
index 0000000000000000000000000000000000000000..686289b35a09b3090689f556b1b2208400b2c332
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_34.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d5aa4f0a3dc69f9b96319077677da75ef7b79b3598d6889e2a30c29d0baa68
+size 641512
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..5168934f9f4f5e6a231f1a7b9e84707bc0ca266d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022006_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b286e04f87cfefe46331d77e20d2fcdc75b6cf70e3960f48b3b54ee4068ee86
+size 641860
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe956db7b6bc6bf746900af2d72795baef93d6fc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa5af7773cc76d94d866dcc121b964b7f60ffd74f970a50826ec4f24bb699ee
+size 641515
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_37.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_37.png
new file mode 100644
index 0000000000000000000000000000000000000000..ad59b31157a0970d8051e74b1605ce20534bc83c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_37.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ff2dd08aa06ba5170a96e50906d4f906094b0f0a16852d089ec696b593ed940
+size 630935
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_38.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_38.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d1c480c5f4735647c73774c978726e2d89c6478
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022007_38.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc50cb029dcff878fc194dfa1eb49ad2ce2088e7c734967dd7b60c0207601d6c
+size 614655
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..3dcf1ec17640690ac6ef49d84cc88ef408efaea8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac4aa44ba5eb8100649f8224c521884636976fe44d5067e4e4f27aa718f7b8d7
+size 601297
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..768a029719bb066ece4f6a06e791be15f77c7525
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022008_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22f55affc119d397765de8df91aeb999c39a043cc6a6a8b9457497f4d432a6c4
+size 591083
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_41.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_41.png
new file mode 100644
index 0000000000000000000000000000000000000000..892a58cb31106c91fa270f3261b3571a20aab007
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_41.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19399dc9fee8927e384d714f537b19a03b3f396b7b9b6533e058a31234f41895
+size 565796
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..30a75eec08ee429a266220484ee88e56a62d47b1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8a102e56c93efaa9f5733e79b84731e584a2112137103b6553d0ea054382ba
+size 528131
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..15062f8d693d5a92abed09fe556d4830092069b3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022009_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e41a8bc51c85e10630cf31950ff05b3c0d4642e56d2611c9deb6de8c0d4326
+size 517128
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_44.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_44.png
new file mode 100644
index 0000000000000000000000000000000000000000..00e32a421ab38d370387439ebe3eea0b7ca3437f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_44.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642b948d2784bd2188d03d312983159bddb30c6c9b78607326fe103ff606a7e5
+size 540005
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_45.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..4353bcdc5da5420e965c45bf2b6fa1b027a4b207
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-19-49_1389867269/20250114_022010_45.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce348666fd08ee6c1adf41f56914f2869d5d24a8341474bbeead30e67b18021
+size 551983
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022603_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022603_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf95c7a8141d21f6132c5e4f15900b7a65d5a129
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022603_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c903733f62a1a7b8d759ba4d640ee792b0ef0c278277467b5e5ea2ad7075373
+size 624684
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022604_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022604_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..32b1e559e78d7af7f62f7e281958a8f53ee3d4db
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022604_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330000426b438899f7e4f0d1b0d3c620325e2181d16510ec37a128459c0062c6
+size 638704
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022605_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022605_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..db78812aa6ef114a384ccb66a8f49be30754acdc
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022605_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad2f3cbb9fda75576d0030abb0c3770546161e989f22f4bf06a0b2e5df08b9c
+size 642768
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022606_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022606_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..cabba699ec6ab5835b6ceb72217dc1c08b1e37c6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022606_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c45322515fd61172cafef871e50cfc63ace1385bacb05ffe7b96848845c6b7
+size 657224
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022608_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022608_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa99af8e723dda8f9d20d055962ef9ba690d3b58
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022608_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ea8786afd032166731b408b3073a96cbffbcae1a3840c1f8c9d9641379cfce6
+size 657513
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..d50c23ae4e38f979008a64b3d45aa85030680f4b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:236c8eda291b8613ab19719309347b173f0c77d68f0b784a4e0fb8adbc29240b
+size 655063
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a2b6d060ed4f059984fa8ec4d8265e5d3befeea
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022609_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a79cf651ca687f856d3a5cfb529c1f7655fe814761bb7055990ddd5cf04c53
+size 657166
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022610_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022610_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..feb9536ce0eb7d56d409165c33e13387bbeff218
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022610_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26d17ffbcb8a79a6adebdf3f2757be079613c6ce9f6d2b96cb14aebca29ef4f2
+size 653391
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..cbdd1d8ebf75cd250ce86f6dfd4bf2d00ea417cf
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:388bfe518c094d14eef55a7ff79264cdde10c378b24acc1cc21b914cfc129554
+size 648580
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..14981a368c128d4c1c40e42b07c9df3f5ff7b24b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022611_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00ccdebaf508a9fc1164ef59e925af2ce02e29c18aba5cfce4dbbf068486bda6
+size 650742
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022612_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022612_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..8df3cac1aaa5c73fe5ab9b1aa7863b5e6c0875cb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022612_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d55aa2440f43ea370a45028148e0625898d612424dde42d4523dfc1c2b93e658
+size 647807
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022614_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022614_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b2da5928b38c6136fe7e7c86119ed9fd4bc9740
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022614_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5227c4b5ac7b9172d5e9eec59274de003073f75dc77db1b0d28c2d4b76d213fe
+size 632526
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022615_28.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022615_28.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f7be2a3ae236e37f7a5ad281df2406224a386d6
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022615_28.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:023dce5445f606ddf7519beda1e835a21f1afd4fc0c9fa4e7aaaa38e08999942
+size 686815
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022616_31.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022616_31.png
new file mode 100644
index 0000000000000000000000000000000000000000..03d7f4a54f01a68b4c7a650d4c6984adcbc7d06d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022616_31.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3309bae8a9bd2a68efbe30a1774f63136c28340c3f58ed7101c47f29d23ab792
+size 664172
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022617_33.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022617_33.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff69de0c5c980687cc427953cca6c520c47b362a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022617_33.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb39a48d757c1dedbbf1ee7d72e07b1bb8e71f9a13d14e925f1c263880f63ea7
+size 645893
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_35.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_35.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbf9eed6f47ccd811ad4499c92ba8916c1133980
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_35.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ff242af58ad9b288c185c4689cd9c7d304e19dd6c5c68ea2a06b2fe35240a5
+size 638425
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_36.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_36.png
new file mode 100644
index 0000000000000000000000000000000000000000..f8eac2ccdc055bd594b6a56a1ed911c2bfebd76d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022618_36.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b57454cf36dde3d4397e080e0ee21dbdc1049070bfe83c151317adb0389bbdea
+size 636645
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022619_39.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022619_39.png
new file mode 100644
index 0000000000000000000000000000000000000000..994cd2997061587d57718147e4260feac89ed38d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022619_39.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a412ea0a2fcc2af624790ec3b1e4eaf4d96703b9fe03b4841831e756e1cd3ec7
+size 582656
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022620_40.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022620_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..277b0d6cc1589bcae71b36689107a02afa3b8139
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022620_40.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ec19a900997f87efd062ed88639b2141eacee1fad5f59b10f1093c36992c1b
+size 569930
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_42.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_42.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c7c891f34c91bd94f712e6be4984c532dba52eb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_42.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b06651832b9c4aef5b0f6cfb9fc59f416347cf0dd77827472d77f15d70b705
+size 577631
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_43.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_43.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcd21b198f5cceac36409abe517a79d8e51fc167
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022621_43.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51363f65f4d46de476f69af5a4d21a8acb63258307500bd5a36890e195ea3076
+size 558782
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_47.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_47.png
new file mode 100644
index 0000000000000000000000000000000000000000..5362c361aff5c357d2a8c32844b93c8abe4a77e0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_47.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94281baf0628da236efd6d222f7729d719102c0d37905ddf6b14c0119e65a92
+size 582381
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_48.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_48.png
new file mode 100644
index 0000000000000000000000000000000000000000..e2b96523b322ced123fb9e34081a6ceb13d22061
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_48.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5530217104f60097aeca8e263ccf13133e1a8df471b038293b6f1794beb02bcd
+size 551961
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_49.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_49.png
new file mode 100644
index 0000000000000000000000000000000000000000..097be7b08466a0f120c9d856b3be6b5b02c1df1a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_2-26-0_1137949908/20250114_022623_49.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ad295f44b646470e8b53c781635b6b77efd337d301fda25ecf05047e455b16
+size 735096
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031500_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031500_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7419cf3aa2cd3fb1d6753d228cdcdf8fa2ace4f4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031500_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20041d5a3fefface38c3b91fa288c5db3204aa9f9bbb0c41209821d57d28d4f5
+size 797108
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..526661be33593cab67a02bb1532e5ed8d87cbd15
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e766fa47119a81e2e7fcefd4d00bba8168d50f80692b10a4fd6b7bf43dfa5e40
+size 777578
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f9f032747f7fd9d0c736c5b9d8b3027664bd27e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031503_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d43f63d6dd1c8b1cdc80386c0ecb0658babf16be2be21088af4e664439ce31a
+size 813473
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..01ba15b09aaea10e41958c83af79d4842e4fd6df
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5494a579d56c9d895761712b9314afe514d2784687c13f845aedf6610705d206
+size 839251
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..de46be44b47c75d0301ef3c6cbb8724eab3d6e28
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232cc030a6bc517b966424e846f427bd01d543163ec8aa4bc842c32be1236522
+size 856324
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..75c8f9733496674ab2a7f9b3de4f7fbb17f522e3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031504_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:849b7739cfb5054d1e05047afd3eb3711ac56802e3c639b07a7279262cf3f6ae
+size 868795
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..528b3dbffab10e391c3bdf67294674b7b57c8da5
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:588e56421078674e1e1ffb67459a31dfdaf5af01cf676b274e4992577d1c2775
+size 876343
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..261a0060200a0fbf45bf87b4dc4e15063345fd6c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031505_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2693f05f495aec90692090ef5396b51348a1333afafde8564fa45a9f5a4e5de2
+size 879893
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b4d3e30cae71b4d99be93d7ec3a6684564de2e3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8a21b7746940fbfec9f0b18317095226ca0690f147938f272be8bf61db928e
+size 825030
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba6f84875750c2c48bb2a8cdc975a4badeb7c162
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6201475d8c76b4175c1250f86db525eb3e472d371675dfeb9ee52f4bb561f2a
+size 885770
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..eb8236bfb565fa96eb52c057651239cfcd6fa9a8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031506_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f8cc8f5c037cc6e8aca2ea2d2f475008bb4ba75070f683709030e499660079c
+size 885265
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..518fb95e31f6904fd4d9d617634f0f9f96d1223e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f9f9dd3c906b2a86bfb22af93003549f4340f4745e027428d8ea5216988a92
+size 798663
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..93aa078a25a7e9ab4f256e2ec7c7e586a6798539
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031507_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4124d1b4ca9b6c80ec3382d4f7b2210d70dde636b1cd31ddc0176194eddd89
+size 783220
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f81fc3c7670778c00875de0eaee9097c006fc87
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6883afe5255ca8514cbab5d172c8188bb55b5851afff0d11b5fc3936e2ea7a
+size 760258
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..497b6cc6b8443b1f61c5c9d306720e19de2e0b47
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031508_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c7636fe3627f8d3c9de85ee7a9ad739c9d113e22ac3defa6fe9a2740c7d42f
+size 761788
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..0666e1ff361db41eb327a84003c67cc60605900b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2875a78926612466e0afeeb303e73b2dc0687bf56028516f823935ee8242d354
+size 736661
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c334b5cc5d51c86061dabfeecc26836f1f86087
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed63e5901e17b076697e6081e6c49485c6628db2c968727a3d3654f0043262d8
+size 736136
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..78c11d017694d1dc64810aeb745895addec8afc1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031509_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aaa4d98923d025d46931c39f8f6e27d1bab6e8c7579e4aa98cedaeb08ee0bd6c
+size 736578
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddae61b78ecb5ab9944fef4709a5f75eb0e2918a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c532a0c5635ffd5f4f1b066cba2d84793d93fff87443db513b0886438b420794
+size 738448
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..2d69730507011361316a008de9502a1681d5eea1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031510_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bbc02cd5042cc69ce6c4e60c588530b4d06654fcc795d85314779470cc95eb4
+size 726665
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..39d80d9ff8ea3d07e1979acfa52bb9168e91741b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeaef285e833bc0698a00d230a1e21aaf3f3ee7cdd477fb9b936beb8938c6ef3
+size 689674
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..0887c7f4016f1431c0f9fc762db0c60f0a23142b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-15-0_1265204346/20250114_031511_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d08b80316fb169fb6116b965d6fbbcbdef16d5bb4ffeb03a099e7c6f7212728
+size 687071
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030439_0.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030439_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea66a6e43b6e3f4b00211334272ac754fe44260e
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030439_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e142df9dd71e98aed26068bdb25bb17b428a91958a06b380b28045dd6d519f9
+size 766351
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_1.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..60d0019b01f5b8508ab97f9e8d9c5e6b47906fb9
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ef41608094317b3b2b8a581a89132001599a54bb127145c46862c3d0b09f2f
+size 716119
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_2.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3359a983b4a4b55caa7dabb3b9c562a2ca4ef64
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030442_2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52de11b327b3f593d364a8109e2a0a05920301cf09d1bddc7ba1e26ccb53d4c8
+size 703685
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_3.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f0e4456122ddf21b15f0286bceed3cb9e61472d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_3.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b76d34f5c1a884da4c8fb21aaf3ec697c83ef07510d95e7cfcf3a579f7671b4
+size 695770
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_4.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_4.png
new file mode 100644
index 0000000000000000000000000000000000000000..cfccc101d2650aca8d2c83d2150ad3606c720cc7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ed08ec5223b7457079dcea755f524073a9970b473271619ee29b19ad9d6cb57
+size 692904
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_5.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_5.png
new file mode 100644
index 0000000000000000000000000000000000000000..16ed3c78cb279871be84e7e93cdf7471bea5631f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030443_5.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c9827a223103e68b66a3c52600232c35e2059ee09927bca2ccbe7309c8821de
+size 694491
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_6.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_6.png
new file mode 100644
index 0000000000000000000000000000000000000000..db361e26d7eb5cdb3948afbf9475f877eb3ec3a7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf95de4edee782975b87b8792d36884846001894b80876be59e9bf0c7c11d81
+size 692521
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_7.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_7.png
new file mode 100644
index 0000000000000000000000000000000000000000..d7e5af2af69654e44b9dda509f8e63a010ab1298
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030444_7.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3afe255e78ef42a9a345b5335f4371d884dc6d8d82c329098d443123e0738167
+size 693039
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_8.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_8.png
new file mode 100644
index 0000000000000000000000000000000000000000..751e02ac1d227aae64c81e27339b476cb41dc225
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b067a888084f43ef75fb52fb94533e8310d7001e96df65584be695eaaa034c7
+size 692695
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_9.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_9.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6c13c13d1dfb07bbca0fe1ead7f1b78e48eeb98
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030445_9.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0d9095cf814bfb2ac11c20ae54a6c2a26b015a4defc2b8bcab6c606f9d17331
+size 694357
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_10.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_10.png
new file mode 100644
index 0000000000000000000000000000000000000000..5adb3a7f19d392e9e01c8fcbde6aaa9ef20b8c17
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f2bc517b8791337bd1e1f72d6a74abf0304ab05648aa31a7f66ea1349ad706
+size 693249
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_11.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_11.png
new file mode 100644
index 0000000000000000000000000000000000000000..e367f18cef6de8bb92eab059049aa30ccec5f11c
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_11.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41791a3b9b261689d4ad2b06b1158536809e10401f24201e552d4b1391948482
+size 691237
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_12.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_12.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd45b55ce97fd47bb1f605e2f8e56fd59dccd72b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030446_12.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21bf5d9b781a7b6d5a1456d37f4bb21fca086633f623565b68aee82331549a02
+size 693042
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_13.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_13.png
new file mode 100644
index 0000000000000000000000000000000000000000..76933408ffc8e0618d93ad06c3354d3579191dd0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_13.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0453eab8d1f723d40c47d36d3fe69f06b211fc4fa191711bf668d4af04a66676
+size 688745
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_14.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_14.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a1c51943a243efbdcb6c67e5af4b14ced45704f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030447_14.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df0cf26631ebf4045e33e395a2a67f94175db88963c9d8a8a3f5c000b49e99b
+size 722138
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_15.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_15.png
new file mode 100644
index 0000000000000000000000000000000000000000..08705f58b4a38cb5a0f2f3160bf41d3e324bd8e0
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbf59199bb7892fa5e407ef46ebbf2f7670b82eadc1397db253c7902447f4b5
+size 711990
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_16.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_16.png
new file mode 100644
index 0000000000000000000000000000000000000000..81ccd8548047f4712222736b733e860570b212e2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_16.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6bedb414a13df527104df1ee546d7ae58c3328947d4cf8f5d008aa4ba31e237
+size 715432
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_17.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_17.png
new file mode 100644
index 0000000000000000000000000000000000000000..188d92c741ea347ae1babc749f227feb0f5f0d7f
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030448_17.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300d55b41d8aeb6ccf2ee8265dc061f02a14913ae8bab7046c99501ec651d793
+size 717233
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_18.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_18.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb3c89f78c60aa23da6a50b53115c7a37f714911
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_18.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93bcf1fad2dacb062d3d3a29cfc1e60c0a8d17ac2f5b3dd7e03e67ca0f86b3f
+size 716933
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_19.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_19.png
new file mode 100644
index 0000000000000000000000000000000000000000..a408a88117424f13e8e9496cd18e05612e00f354
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030449_19.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:497251018667cc59b84a584d923f26b380b664c96d226668e961551d9ed90ed4
+size 711338
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_20.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f2d9b8658e53d819c08c22b6d22d7d87845d652
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_20.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a9830153bd3fc0b9b5018c6e06fb55f5264e47a739ea9f9dbc0094e03a24ae
+size 705050
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_21.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_21.png
new file mode 100644
index 0000000000000000000000000000000000000000..5712d456cb774c328fbb29118756a288f9c9f6f2
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030450_21.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2c020aedcd8cda008d06552eed3fc1157eb1e43714d635d1364e27c5bb44cd6
+size 701224
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_22.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c7d520ead7ff23e3490b1fd00dc2c0428031c86
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_22.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60079768da63177a252221ab8298f329d8c064cfd95a4a2a7831c952d2bd6cd5
+size 699598
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_23.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..ac268bf0693a2c0e0959779fd00fda6d59d03bb8
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_23.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2fcd5847448db7ec2b69e38ec1a28ffaf61d10ddc85542f9ff8af6cf787acc
+size 709435
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_24.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_24.png
new file mode 100644
index 0000000000000000000000000000000000000000..d30259b3fdcdf516c0878159c8efa693e4de71ec
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030451_24.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2fdd8a9b5d0972a1af36cd0bdb1ce554d8def2b1b39f672e14e63042f941ad
+size 720521
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_25.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_25.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b247dbb3300e8ce8ed0902888acc86331757e02
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_25.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63e8fee410cc4259560d795c3c846d4f60ed17ce700f935cdcb9925d7ffe3c4c
+size 699811
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_26.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_26.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fb4a6e49e3e9236978c58d0b7242356cd4cc200
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030452_26.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf33bda43373a6fb71b0e6deca433c6deca84586154c53dc961cd29b77832bb1
+size 681985
diff --git a/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030453_27.png b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030453_27.png
new file mode 100644
index 0000000000000000000000000000000000000000..21e78504f8a6c7bf04692fec33e489a633141878
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/low_average_updown/2025-1-14_3-4-39_669908538/20250114_030453_27.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c5d3b0cae1242f61c6ca731c8ff7dae4694bce2f54fc7f69f4beb27fbb31f5c
+size 650988