diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-46-28_561834/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-46-28_561834/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f2b06fd3ef3660284c2b333e2724668655ec342
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-46-28_561834/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            400.41913410108117,
+            571.1878133200925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            398.91913410108117,
+            568.5897371087392,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            397.41913410108117,
+            565.9916608973858,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            395.91913410108117,
+            563.3935846860325,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            394.41913410108117,
+            560.7955084746791,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            392.91913410108117,
+            558.1974322633257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            391.41913410108117,
+            555.5993560519723,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            389.91913410108117,
+            553.001279840619,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            388.41913410108117,
+            550.4032036292656,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            386.91913410108117,
+            547.8051274179122,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            385.41913410108117,
+            545.2070512065588,
+            -8.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            385.41913410108117,
+            545.2070512065588,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            383.91913410108117,
+            542.6089749952055,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            382.41913410108117,
+            540.0108987838521,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            380.91913410108117,
+            537.4128225724987,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            379.41913410108117,
+            534.8147463611454,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            377.91913410108117,
+            532.216670149792,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            376.41913410108117,
+            529.6185939384386,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            374.91913410108117,
+            527.0205177270852,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            373.41913410108117,
+            524.4224415157319,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            371.91913410108117,
+            521.8243653043785,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            370.41913410108117,
+            519.2262890930251,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            368.91913410108117,
+            516.6282128816717,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            367.41913410108117,
+            514.0301366703184,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            365.91913410108117,
+            511.43206045896505,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            364.41913410108117,
+            508.83398424761174,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            362.91913410108117,
+            506.2359080362584,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            361.41913410108117,
+            503.6378318249051,
+            -5.372593221259651
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            361.41913410108117,
+            503.6378318249051,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            358.82105788972785,
+            502.1378318249051,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            356.22298167837454,
+            500.6378318249051,
+            -5.372593221259651
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            356.22298167837454,
+            500.6378318249051,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-54-42_364802/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-54-42_364802/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f3153ea702e404617894cfcb6787c42ec30b4d54
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-54-42_364802/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1995.552328771869,
+            56.52628844259286,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1994.052328771869,
+            59.124364653946174,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1992.552328771869,
+            61.72244086529949,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1991.052328771869,
+            64.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1991.052328771869,
+            64.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1991.052328771869,
+            67.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1991.052328771869,
+            70.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1991.052328771869,
+            73.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1991.052328771869,
+            76.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1991.052328771869,
+            79.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1991.052328771869,
+            82.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1991.052328771869,
+            85.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1991.052328771869,
+            88.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1991.052328771869,
+            91.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1991.052328771869,
+            94.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1991.052328771869,
+            97.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1991.052328771869,
+            100.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1991.052328771869,
+            103.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1991.052328771869,
+            106.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1991.052328771869,
+            109.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1991.052328771869,
+            112.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1991.052328771869,
+            115.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1991.052328771869,
+            118.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1991.052328771869,
+            121.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1991.052328771869,
+            124.3205170766528,
+            -8.37259322125965
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1991.052328771869,
+            124.3205170766528,
+            -11.37259322125965
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1991.052328771869,
+            124.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1991.052328771869,
+            124.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1991.052328771869,
+            124.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1988.4542525605157,
+            125.8205170766528,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1985.8561763491623,
+            127.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1985.8561763491623,
+            127.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1982.8561763491623,
+            127.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1982.8561763491623,
+            127.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1982.8561763491623,
+            127.3205170766528,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931957
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1981.3561763491623,
+            129.91859328800612,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1979.8561763491623,
+            132.51666949935944,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1978.3561763491623,
+            135.11474571071275,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1976.8561763491623,
+            137.71282192206607,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1975.3561763491623,
+            140.31089813341939,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1973.8561763491623,
+            142.9089743447727,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1972.3561763491623,
+            145.50705055612602,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1970.8561763491623,
+            148.10512676747933,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1969.3561763491623,
+            150.70320297883265,
+            -14.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1967.8561763491623,
+            153.30127919018597,
+            -14.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1967.8561763491623,
+            153.30127919018597,
+            -11.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1967.8561763491623,
+            153.30127919018597,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1967.8561763491623,
+            153.30127919018597,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1967.8561763491623,
+            156.30127919018597,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1960.0,
+            188.0,
+            -8.00906
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-58-23_129110/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-58-23_129110/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..450582dbb4e7f1fdb65ec14a1d7c0aa73e7da772
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_02-58-23_129110/pose.jsonl
@@ -0,0 +1,613 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1782.9165433223636,
+            -89.2041055754594,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1784.4165433223636,
+            -86.60602936410608,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1785.9165433223636,
+            -84.00795315275276,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1787.4165433223636,
+            -81.40987694139945,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1788.9165433223636,
+            -78.81180073004613,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1790.4165433223636,
+            -76.21372451869281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1791.9165433223636,
+            -73.6156483073395,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1793.4165433223636,
+            -71.01757209598618,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1794.9165433223636,
+            -68.41949588463287,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1796.4165433223636,
+            -65.82141967327955,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1797.9165433223636,
+            -63.223343461926234,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            -8.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            -5.372593221259651
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            -2.3725932212596508
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            0.6274067787403492
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            3.6274067787403492
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1799.4165433223636,
+            -60.62526725057292,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1800.9165433223636,
+            -58.0271910392196,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1802.4165433223636,
+            -55.429114827866286,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1803.9165433223636,
+            -52.83103861651297,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1805.4165433223636,
+            -50.232962405159654,
+            6.627406778740349
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1805.4165433223636,
+            -50.232962405159654,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1808.014619533717,
+            -48.732962405159654,
+            6.627406778740349
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1808.014619533717,
+            -48.732962405159654,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1809.514619533717,
+            -46.13488619380634,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1811.014619533717,
+            -43.53680998245302,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1812.514619533717,
+            -40.938733771099706,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1814.014619533717,
+            -38.34065755974639,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1815.514619533717,
+            -35.742581348393074,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1817.014619533717,
+            -33.14450513703976,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1818.514619533717,
+            -30.546428925686442,
+            6.627406778740349
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1818.514619533717,
+            -30.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1818.514619533717,
+            -27.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1818.514619533717,
+            -24.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1818.514619533717,
+            -21.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1818.514619533717,
+            -18.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1818.514619533717,
+            -15.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1818.514619533717,
+            -12.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1818.514619533717,
+            -9.546428925686442,
+            6.627406778740349
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1818.514619533717,
+            -9.546428925686442,
+            3.6274067787403492
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1818.514619533717,
+            -9.546428925686442,
+            0.6274067787403492
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1818.514619533717,
+            -9.546428925686442,
+            -2.3725932212596508
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1818.514619533717,
+            -9.546428925686442,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1818.514619533717,
+            -6.546428925686442,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1818.514619533717,
+            -3.546428925686442,
+            -5.372593221259651
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1818.514619533717,
+            -3.546428925686442,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1828.0,
+            20.0,
+            28.504
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-00-12_901171/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-00-12_901171/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..557d5ec6646f7af25455a646b09b996ba1023192
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-01-19_03-00-12_901171/pose.jsonl
@@ -0,0 +1,587 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1398.4927459511987,
+            531.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1398.4927459511987,
+            528.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1398.4927459511987,
+            525.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1398.4927459511987,
+            522.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1398.4927459511987,
+            519.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1398.4927459511987,
+            516.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1398.4927459511987,
+            513.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1398.4927459511987,
+            510.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1398.4927459511987,
+            507.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1398.4927459511987,
+            504.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1398.4927459511987,
+            501.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1398.4927459511987,
+            498.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1398.4927459511987,
+            495.1670529265134,
+            -8.37259322125965
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1398.4927459511987,
+            495.1670529265134,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1398.4927459511987,
+            492.1670529265134,
+            -5.372593221259651
+        ],
+        "type": "go up",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1398.4927459511987,
+            492.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1398.4927459511987,
+            489.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1398.4927459511987,
+            486.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1398.4927459511987,
+            483.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1398.4927459511987,
+            480.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1398.4927459511987,
+            477.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1398.4927459511987,
+            474.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1398.4927459511987,
+            471.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1398.4927459511987,
+            468.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1398.4927459511987,
+            465.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1398.4927459511987,
+            462.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1398.4927459511987,
+            459.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1398.4927459511987,
+            456.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1398.4927459511987,
+            453.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1398.4927459511987,
+            450.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1398.4927459511987,
+            447.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1398.4927459511987,
+            444.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1398.4927459511987,
+            441.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1398.4927459511987,
+            438.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1398.4927459511987,
+            435.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1398.4927459511987,
+            432.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1398.4927459511987,
+            429.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1398.4927459511987,
+            426.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1398.4927459511987,
+            423.1670529265134,
+            -2.3725932212596508
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1398.4927459511987,
+            423.1670529265134,
+            -5.372593221259651
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1398.4927459511987,
+            423.1670529265134,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1399.9927459511987,
+            420.5689767151601,
+            -5.372593221259651
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1401.4927459511987,
+            417.9709005038068,
+            -5.372593221259651
+        ],
+        "type": "go down",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1401.4927459511987,
+            417.9709005038068,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1404.0,
+            400.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-25_1681692777/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-25_1681692777/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c1da170c48eb17529d217e47ffc61a47a3cb114
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_17-49-25_1681692777/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1875.9947677298994,
+            257.1964947458205,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1877.4947677298994,
+            259.7945709571738,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1878.9947677298994,
+            262.3926471685271,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1880.4947677298994,
+            264.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1880.4947677298994,
+            264.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1883.0928439412528,
+            266.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1885.6909201526062,
+            267.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1888.2889963639595,
+            269.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1890.887072575313,
+            270.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1893.4851487866663,
+            272.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1896.0832249980197,
+            273.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1898.681301209373,
+            275.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1901.2793774207264,
+            276.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1903.8774536320798,
+            278.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1906.4755298434332,
+            279.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1909.0736060547865,
+            281.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1911.67168226614,
+            282.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1914.2697584774933,
+            284.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1916.8678346888466,
+            285.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1919.4659109002,
+            287.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1922.0639871115534,
+            288.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1924.6620633229068,
+            290.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1927.2601395342601,
+            291.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1929.8582157456135,
+            293.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1932.4562919569669,
+            294.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1935.0543681683203,
+            296.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1937.6524443796736,
+            297.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1940.250520591027,
+            299.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1942.8485968023804,
+            300.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1945.4466730137337,
+            302.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1948.0447492250871,
+            303.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1950.6428254364405,
+            305.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1953.2409016477939,
+            306.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1955.8389778591472,
+            308.4907233798804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1958.4370540705006,
+            309.9907233798804,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-19-29_855636226/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-19-29_855636226/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29d37d0da627436d251ae9b7ba275ede47757320
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-19-29_855636226/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            271.78163331612046,
+            399.09249609590455,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            273.28163331612046,
+            401.69057230725787,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            274.78163331612046,
+            404.2886485186112,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            276.28163331612046,
+            406.8867247299645,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            277.78163331612046,
+            409.4848009413178,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            279.28163331612046,
+            412.08287715267113,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            280.78163331612046,
+            414.68095336402445,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            282.28163331612046,
+            417.27902957537776,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            283.78163331612046,
+            419.8771057867311,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            285.28163331612046,
+            422.4751819980844,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            286.78163331612046,
+            425.0732582094377,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            288.28163331612046,
+            427.671334420791,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            289.78163331612046,
+            430.26941063214434,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            291.28163331612046,
+            432.86748684349766,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            292.78163331612046,
+            435.465563054851,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            294.28163331612046,
+            438.0636392662043,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            295.78163331612046,
+            440.6617154775576,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            297.28163331612046,
+            443.2597916889109,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            298.78163331612046,
+            445.85786790026424,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            300.28163331612046,
+            448.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            300.28163331612046,
+            448.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            302.8797095274738,
+            449.95594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            305.4777857388271,
+            451.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            308.0758619501804,
+            452.95594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            310.6739381615337,
+            454.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            313.27201437288704,
+            455.95594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            315.87009058424036,
+            457.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            318.4681667955937,
+            458.95594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            321.066243006947,
+            460.45594411161755,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            323.6643192183003,
+            461.95594411161755,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            344.0,
+            484.0,
+            -1.13109
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-26-42_364228444/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-26-42_364228444/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f30f1316328f1024799449cfb1573361dd18fe12
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-26-42_364228444/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1682.37972996385,
+            548.3378275254308,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1683.87972996385,
+            550.9359037367842,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1685.37972996385,
+            553.5339799481376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1686.87972996385,
+            556.132056159491,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1688.37972996385,
+            558.7301323708443,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1689.87972996385,
+            561.3282085821977,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1691.37972996385,
+            563.9262847935511,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1692.87972996385,
+            566.5243610049044,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1694.37972996385,
+            569.1224372162578,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1695.87972996385,
+            571.7205134276112,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1697.37972996385,
+            574.3185896389646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1698.87972996385,
+            576.9166658503179,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1700.37972996385,
+            579.5147420616713,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1701.87972996385,
+            582.1128182730247,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1703.37972996385,
+            584.7108944843781,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1704.87972996385,
+            587.3089706957314,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1706.37972996385,
+            589.9070469070848,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1707.87972996385,
+            592.5051231184382,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1709.37972996385,
+            595.1031993297916,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1710.87972996385,
+            597.7012755411449,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1712.37972996385,
+            600.2993517524983,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1713.87972996385,
+            602.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1713.87972996385,
+            602.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1716.4778061752033,
+            604.3974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1719.0758823865567,
+            605.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1721.67395859791,
+            607.3974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1724.2720348092635,
+            608.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1726.8701110206168,
+            610.3974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1729.4681872319702,
+            611.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1732.0662634433236,
+            613.3974279638517,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1734.664339654677,
+            614.8974279638517,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1752.0,
+            640.0,
+            -0.375381
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-34-42_1120048829/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-34-42_1120048829/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a7ac24b51b1b724bfc15172f8f79ced69c7198ac
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-34-42_1120048829/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -21.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -18.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -15.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -12.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -9.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -6.324628596922494,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -3.3246285969224942,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -0.32462859692249424,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            2.6753714030775058,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            5.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            8.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            11.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            14.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            17.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            20.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            23.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            26.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            29.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            32.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            35.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            35.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            35.675371403077506,
+            28.980926249750475,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            37.175371403077506,
+            31.57900246110379,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            38.675371403077506,
+            34.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            38.675371403077506,
+            34.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            41.27344761443082,
+            35.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            43.87152382578414,
+            37.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            46.469600037137454,
+            38.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            49.06767624849077,
+            40.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            51.665752459844086,
+            41.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            54.2638286711974,
+            43.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            56.86190488255072,
+            44.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            59.459981093904034,
+            46.17707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            62.05805730525735,
+            47.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            62.05805730525735,
+            47.67707867245711,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            63.55805730525735,
+            50.27515488381042,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            56.0,
+            0.021111
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-54-17_352118606/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-54-17_352118606/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..61d7d73b41fc5d691ea0b87d3e2445164deb1145
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_18-54-17_352118606/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            34.7910622413642,
+            293.3458181746159,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            36.2910622413642,
+            290.74774196326257,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            37.7910622413642,
+            288.14966575190925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            39.2910622413642,
+            285.55158954055594,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            40.7910622413642,
+            282.9535133292026,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            42.2910622413642,
+            280.3554371178493,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            43.7910622413642,
+            277.757360906496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            45.2910622413642,
+            275.1592846951427,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            46.7910622413642,
+            272.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            46.7910622413642,
+            272.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            46.7910622413642,
+            269.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            46.7910622413642,
+            266.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            46.7910622413642,
+            263.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            46.7910622413642,
+            260.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            46.7910622413642,
+            257.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            46.7910622413642,
+            254.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            46.7910622413642,
+            251.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            46.7910622413642,
+            248.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            46.7910622413642,
+            245.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            46.7910622413642,
+            242.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            46.7910622413642,
+            239.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            46.7910622413642,
+            239.56120848378936,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            48.2910622413642,
+            236.96313227243604,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            49.7910622413642,
+            234.36505606108273,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            51.2910622413642,
+            231.7669798497294,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            52.7910622413642,
+            229.1689036383761,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            54.2910622413642,
+            226.57082742702278,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            55.7910622413642,
+            223.97275121566946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            57.2910622413642,
+            221.37467500431615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            58.7910622413642,
+            218.77659879296283,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            60.2910622413642,
+            216.1785225816095,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            80.0,
+            164.0,
+            -17.6142
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-24-13_1943327684/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-24-13_1943327684/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6533f9682f2036f57fbf3e10c38783bb3cda29af
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-24-13_1943327684/pose.jsonl
@@ -0,0 +1,405 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -165.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -162.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -159.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -156.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -153.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -150.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -147.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -144.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -141.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -138.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -135.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -132.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -129.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -126.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -123.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -123.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -123.48267891695383,
+            -153.87041805164262,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -121.98267891695383,
+            -156.46849426299593,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -120.48267891695383,
+            -159.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -120.48267891695383,
+            -159.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -117.88460270560051,
+            -160.56657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -115.2865264942472,
+            -162.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -112.68845028289388,
+            -163.56657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -110.09037407154057,
+            -165.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -107.49229786018725,
+            -166.56657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -104.89422164883393,
+            -168.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -102.29614543748062,
+            -169.56657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -99.6980692261273,
+            -171.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -97.09999301477399,
+            -172.56657047434925,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -94.50191680342067,
+            -174.06657047434925,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "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/medium_average/2025-1-8_19-48-58_964445884/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-48-58_964445884/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..133ab0133cb65e1a4ad6bf626f08fc796eeeec54
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-48-58_964445884/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1659.5306353246997,
+            -309.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1656.9325591133463,
+            -308.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1654.334482901993,
+            -306.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1651.7364066906396,
+            -305.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1649.1383304792862,
+            -303.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1646.5402542679328,
+            -302.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1643.9421780565795,
+            -300.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1641.344101845226,
+            -299.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1638.7460256338727,
+            -297.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1636.1479494225193,
+            -296.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1633.549873211166,
+            -294.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1630.9517969998126,
+            -293.23529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1628.3537207884592,
+            -291.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1628.3537207884592,
+            -291.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1625.3537207884592,
+            -291.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1622.3537207884592,
+            -291.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1619.3537207884592,
+            -291.73529850260496,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1564.0,
+            -268.0,
+            -6.14624
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-51-54_282828202/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-51-54_282828202/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54ef08bf5b18cc1bca82130d87bee51ab3e89f42
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_19-51-54_282828202/pose.jsonl
@@ -0,0 +1,54 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            118.96706530503945,
+            -292.36091825562454,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            116.36898909368614,
+            -293.86091825562454,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            113.77091288233282,
+            -295.36091825562454,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779914944
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            12.0,
+            -368.0,
+            -0.096958
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-19-40_1472576335/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-19-40_1472576335/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4730336f45ff70fcefa2bbfe4a3ba1d11ae87db
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-19-40_1472576335/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            846.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            843.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            840.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            837.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            834.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            831.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            828.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            825.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            825.6724172007874,
+            66.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779914944
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            823.0743409894342,
+            67.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991485
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            820.4762647780808,
+            69.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            817.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            817.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.1415926535898024
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            814.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            811.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            808.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            805.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            802.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            799.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            796.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            793.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            790.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            787.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            784.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            781.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            778.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            775.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            772.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            772.8781885667274,
+            70.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            770.2801123553741,
+            69.16611352546124,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            767.6820361440207,
+            67.66611352546124,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-29-53_1989806367/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-29-53_1989806367/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6b436b522adddcf3d612ae46895111cb2074276a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-29-53_1989806367/pose.jsonl
@@ -0,0 +1,522 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1936.4788297647,
+            505.1756024794516,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1937.9788297647,
+            502.57752626809827,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1939.4788297647,
+            499.97945005674495,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1940.9788297647,
+            497.38137384539164,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1942.4788297647,
+            494.7832976340383,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1943.9788297647,
+            492.185221422685,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1945.4788297647,
+            489.5871452113317,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1946.9788297647,
+            486.9890689999784,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1948.4788297647,
+            484.39099278862506,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1949.9788297647,
+            481.79291657727174,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1951.4788297647,
+            479.1948403659184,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1952.9788297647,
+            476.5967641545651,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1954.4788297647,
+            473.9986879432118,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1955.9788297647,
+            471.4006117318585,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1957.4788297647,
+            468.80253552050516,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1958.9788297647,
+            466.20445930915184,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1960.4788297647,
+            463.6063830977985,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1961.9788297647,
+            461.0083068864452,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1963.4788297647,
+            458.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1963.4788297647,
+            458.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1963.4788297647,
+            455.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1963.4788297647,
+            452.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1963.4788297647,
+            449.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1963.4788297647,
+            446.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1963.4788297647,
+            443.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1963.4788297647,
+            440.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1963.4788297647,
+            437.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1963.4788297647,
+            437.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1963.4788297647,
+            437.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982989
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1966.0769059760535,
+            435.9102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1968.6749821874068,
+            434.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1971.2730583987602,
+            432.9102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1973.8711346101136,
+            431.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1976.469210821467,
+            429.9102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1979.0672870328203,
+            428.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1981.6653632441737,
+            426.9102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1984.263439455527,
+            425.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1986.8615156668805,
+            423.9102306750919,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1989.4595918782338,
+            422.4102306750919,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2004.0,
+            400.0,
+            26.235
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-22_1251300606/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-22_1251300606/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e0a278f2d0e78efc9e15c5ccf878b68c092f1111
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-46-22_1251300606/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1048.0662575977774,
+            878.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1045.468181386424,
+            876.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1042.8701051750706,
+            875.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1040.2720289637173,
+            873.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1037.673952752364,
+            872.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1035.0758765410105,
+            870.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1032.4778003296572,
+            869.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1029.8797241183038,
+            867.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1027.2816479069504,
+            866.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1024.683571695597,
+            864.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1022.0854954842437,
+            863.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1019.4874192728903,
+            861.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1016.8893430615369,
+            860.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1014.2912668501835,
+            858.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1011.6931906388302,
+            857.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1009.0951144274768,
+            855.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1006.4970382161234,
+            854.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1003.89896200477,
+            852.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1001.3008857934167,
+            851.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            998.7028095820633,
+            849.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            996.1047333707099,
+            848.4327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            993.5066571593566,
+            846.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            993.5066571593566,
+            846.9327304455485,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            992.0066571593566,
+            844.3346542341951,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            990.5066571593566,
+            841.7365780228417,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            989.0066571593566,
+            839.1385018114884,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            987.5066571593566,
+            836.540425600135,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            986.0066571593566,
+            833.9423493887816,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            984.5066571593566,
+            831.3442731774282,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            983.0066571593566,
+            828.7461969660749,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            981.5066571593566,
+            826.1481207547215,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            980.0066571593566,
+            823.5500445433681,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            978.5066571593566,
+            820.9519683320148,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            952.0,
+            800.0,
+            0.299606
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-51-40_1930772757/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-51-40_1930772757/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6723f87addba12648685edcb7f68ff014bb11828
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-51-40_1930772757/pose.jsonl
@@ -0,0 +1,210 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1938.6853785557446,
+            61.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1938.6853785557446,
+            64.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1938.6853785557446,
+            67.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1938.6853785557446,
+            70.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1938.6853785557446,
+            73.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1938.6853785557446,
+            76.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1938.6853785557446,
+            79.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1938.6853785557446,
+            82.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1938.6853785557446,
+            85.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1938.6853785557446,
+            85.39003003407568,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1940.1853785557446,
+            87.988106245429,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1941.6853785557446,
+            90.58618245678231,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1943.1853785557446,
+            93.18425866813563,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1944.6853785557446,
+            95.78233487948894,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1946.1853785557446,
+            98.38041109084226,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1960.0,
+            188.0,
+            -8.00906
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-56-20_553160358/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-56-20_553160358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6ecaec86fa2a818c829cba4e67a39016a6ee4878
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_20-56-20_553160358/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1378.6483549006787,
+            980.9669282169059,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1377.1483549006787,
+            978.3688520055525,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1375.6483549006787,
+            975.7707757941992,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1374.1483549006787,
+            973.1726995828458,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1372.6483549006787,
+            970.5746233714924,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1371.1483549006787,
+            967.976547160139,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1369.6483549006787,
+            965.3784709487857,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1368.1483549006787,
+            962.7803947374323,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1366.6483549006787,
+            960.1823185260789,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1365.1483549006787,
+            957.5842423147255,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1363.6483549006787,
+            954.9861661033722,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1362.1483549006787,
+            952.3880898920188,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1360.6483549006787,
+            949.7900136806654,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1359.1483549006787,
+            947.191937469312,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1357.6483549006787,
+            944.5938612579587,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1356.1483549006787,
+            941.9957850466053,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1354.6483549006787,
+            939.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1354.6483549006787,
+            939.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779914846
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1352.0502786893253,
+            937.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1349.452202477972,
+            936.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1346.8541262666186,
+            934.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1344.2560500552652,
+            933.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1341.6579738439118,
+            931.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1339.0598976325584,
+            930.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1336.461821421205,
+            928.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1333.8637452098517,
+            927.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1331.2656689984983,
+            925.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1328.667592787145,
+            924.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1326.0695165757916,
+            922.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1323.4714403644382,
+            921.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1320.8733641530848,
+            919.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1318.2752879417314,
+            918.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1315.677211730378,
+            916.8977088352519,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1313.0791355190247,
+            915.3977088352519,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-32-29_1738110294/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-32-29_1738110294/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4a409bb325047bb648a7282dd72a2a83574b55d4
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-32-29_1738110294/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            86.96844325880946,
+            -66.10622424097556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            89.56651947016277,
+            -64.60622424097556,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            92.16459568151609,
+            -63.106224240975564,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            92.16459568151609,
+            -63.106224240975564,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            95.16459568151609,
+            -63.106224240975564,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            95.16459568151609,
+            -63.106224240975564,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            95.16459568151609,
+            -63.106224240975564,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            96.66459568151609,
+            -60.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            96.66459568151609,
+            -60.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            96.66459568151609,
+            -57.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            96.66459568151609,
+            -54.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            96.66459568151609,
+            -51.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            96.66459568151609,
+            -48.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            96.66459568151609,
+            -45.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            96.66459568151609,
+            -42.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            96.66459568151609,
+            -39.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            96.66459568151609,
+            -36.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            96.66459568151609,
+            -33.50814802962225,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            96.66459568151609,
+            -30.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            96.66459568151609,
+            -27.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            96.66459568151609,
+            -24.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            96.66459568151609,
+            -21.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            96.66459568151609,
+            -18.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            96.66459568151609,
+            -15.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            96.66459568151609,
+            -12.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            96.66459568151609,
+            -9.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            96.66459568151609,
+            -6.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            96.66459568151609,
+            -3.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            96.66459568151609,
+            -0.508148029622248,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            96.66459568151609,
+            2.491851970377752,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            96.66459568151609,
+            5.491851970377752,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            96.66459568151609,
+            8.491851970377752,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            96.66459568151609,
+            11.491851970377752,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            96.66459568151609,
+            11.491851970377752,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            95.16459568151609,
+            14.089928181731068,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            93.66459568151609,
+            16.688004393084384,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            92.16459568151609,
+            19.2860806044377,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            90.66459568151609,
+            21.884156815791016,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            89.16459568151609,
+            24.482233027144332,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            87.66459568151609,
+            27.080309238497648,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            86.16459568151609,
+            29.678385449850964,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            84.66459568151609,
+            32.27646166120428,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            84.0,
+            56.0,
+            0.021111
+        ],
+        "shape": "test",
+        "dir": "right",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-34-8_337745691/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-34-8_337745691/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..abd1265fa7bdbd3a6fa7cfce2346fe036305e2e1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-34-8_337745691/pose.jsonl
@@ -0,0 +1,236 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1124.4656531337275,
+            372.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1127.063729345081,
+            374.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1129.6618055564343,
+            375.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1132.2598817677876,
+            377.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1134.857957979141,
+            378.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1137.4560341904944,
+            380.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1140.0541104018478,
+            381.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1142.6521866132011,
+            383.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1145.2502628245545,
+            384.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1147.8483390359079,
+            386.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1150.4464152472613,
+            387.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1153.0444914586146,
+            389.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1155.642567669968,
+            390.78389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1158.2406438813214,
+            392.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1158.2406438813214,
+            392.28389383317864,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1159.7406438813214,
+            394.88197004453195,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1161.2406438813214,
+            397.48004625588527,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1236.0,
+            456.0,
+            148.475
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-44-12_1460082195/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-44-12_1460082195/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ee883e13474700a2e823be0903ee71469af88834
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_21-44-12_1460082195/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1585.8408560021994,
+            619.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1583.242779790846,
+            621.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1580.6447035794927,
+            622.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1578.0466273681393,
+            624.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1575.448551156786,
+            625.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1572.8504749454326,
+            627.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1570.2523987340792,
+            628.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1567.6543225227258,
+            630.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1565.0562463113724,
+            631.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1562.458170100019,
+            633.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1559.8600938886657,
+            634.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1557.2620176773123,
+            636.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1554.663941465959,
+            637.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1552.0658652546056,
+            639.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1549.4677890432522,
+            640.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1546.8697128318988,
+            642.346567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1544.2716366205455,
+            643.846567719349,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1544.2716366205455,
+            643.846567719349,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1542.7716366205455,
+            646.4446439307023,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1541.2716366205455,
+            649.0427201420557,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1539.7716366205455,
+            651.6407963534091,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1538.2716366205455,
+            654.2388725647625,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1536.7716366205455,
+            656.8369487761158,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1535.2716366205455,
+            659.4350249874692,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1533.7716366205455,
+            662.0331011988226,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1532.2716366205455,
+            664.631177410176,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1530.7716366205455,
+            667.2292536215293,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1529.2716366205455,
+            669.8273298328827,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1527.7716366205455,
+            672.4254060442361,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1526.2716366205455,
+            675.0234822555894,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1524.7716366205455,
+            677.6215584669428,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1523.2716366205455,
+            680.2196346782962,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1521.7716366205455,
+            682.8177108896496,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1520.2716366205455,
+            685.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1520.2716366205455,
+            685.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1520.2716366205455,
+            688.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1520.2716366205455,
+            691.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1520.2716366205455,
+            694.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1520.2716366205455,
+            697.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1520.2716366205455,
+            700.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1520.2716366205455,
+            703.4157871010029,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1504.0,
+            728.0,
+            1.05537
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-16-36_972058109/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-16-36_972058109/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fa9179eceb9e20630fadd6b1162fbd79971ff80b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-16-36_972058109/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            256.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            259.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            262.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            265.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            268.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            271.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            274.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            277.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            280.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            283.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            286.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            289.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            292.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            295.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            298.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            301.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            304.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            307.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            310.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            313.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            316.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            319.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            322.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            325.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            328.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            331.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            334.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            337.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            337.2321365666383,
+            169.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            339.8302127779916,
+            167.9872839315878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            342.42828898934494,
+            166.4872839315878,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            364.0,
+            164.0,
+            16.579
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-48-13_1867107722/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-48-13_1867107722/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cbc67a1e65196e3babe80072e78732a742577f46
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_22-48-13_1867107722/pose.jsonl
@@ -0,0 +1,483 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1494.1344562032477,
+            945.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1494.1344562032477,
+            942.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1494.1344562032477,
+            939.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1494.1344562032477,
+            936.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1494.1344562032477,
+            933.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1494.1344562032477,
+            930.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1494.1344562032477,
+            927.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1494.1344562032477,
+            924.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1494.1344562032477,
+            921.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1494.1344562032477,
+            918.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1494.1344562032477,
+            915.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1494.1344562032477,
+            912.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1494.1344562032477,
+            909.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1494.1344562032477,
+            906.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1494.1344562032477,
+            903.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1494.1344562032477,
+            900.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1494.1344562032477,
+            897.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1494.1344562032477,
+            894.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1494.1344562032477,
+            891.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1494.1344562032477,
+            888.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1494.1344562032477,
+            885.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1494.1344562032477,
+            882.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1494.1344562032477,
+            879.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1494.1344562032477,
+            876.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1494.1344562032477,
+            873.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1494.1344562032477,
+            873.2275811860419,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1495.6344562032477,
+            870.6295049746886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1497.1344562032477,
+            868.0314287633353,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1498.6344562032477,
+            865.4333525519819,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1500.1344562032477,
+            862.8352763406285,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1501.6344562032477,
+            860.2372001292752,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1503.1344562032477,
+            857.6391239179218,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1504.6344562032477,
+            855.0410477065684,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1506.1344562032477,
+            852.442971495215,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1506.1344562032477,
+            852.442971495215,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1506.1344562032477,
+            849.442971495215,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267949059
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1512.0,
+            808.0,
+            -15.72
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-0-9_376696776/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-0-9_376696776/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f2ede9685076eeea92b4e18f8918b5318ef5c512
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-0-9_376696776/pose.jsonl
@@ -0,0 +1,457 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            755.1707003712195,
+            602.0169493948081,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            753.6707003712195,
+            599.4188731834547,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            752.1707003712195,
+            596.8207969721013,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            750.6707003712195,
+            594.222720760748,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            749.1707003712195,
+            591.6246445493946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            747.6707003712195,
+            589.0265683380412,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            746.1707003712195,
+            586.4284921266878,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            744.6707003712195,
+            583.8304159153345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            743.1707003712195,
+            581.2323397039811,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            741.6707003712195,
+            578.6342634926277,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            740.1707003712195,
+            576.0361872812744,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            738.6707003712195,
+            573.438111069921,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            737.1707003712195,
+            570.8400348585676,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            735.6707003712195,
+            568.2419586472142,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            734.1707003712195,
+            565.6438824358609,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            732.6707003712195,
+            563.0458062245075,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            731.1707003712195,
+            560.4477300131541,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            729.6707003712195,
+            557.8496538018007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            728.1707003712195,
+            555.2515775904474,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            726.6707003712195,
+            552.653501379094,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            726.6707003712195,
+            552.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            726.6707003712195,
+            549.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            726.6707003712195,
+            546.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            726.6707003712195,
+            543.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            726.6707003712195,
+            540.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            726.6707003712195,
+            537.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            726.6707003712195,
+            534.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            726.6707003712195,
+            531.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            726.6707003712195,
+            528.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            726.6707003712195,
+            525.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            726.6707003712195,
+            522.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            726.6707003712195,
+            519.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            726.6707003712195,
+            516.653501379094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            726.6707003712195,
+            513.653501379094,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            716.0,
+            484.0,
+            -10.4721
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-32_771476364/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-32_771476364/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..89598f5bf729c1f15d6e1e3a6b0a942e701164f3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-14-32_771476364/pose.jsonl
@@ -0,0 +1,197 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1453.6089594769726,
+            930.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1453.6089594769726,
+            927.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1453.6089594769726,
+            924.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1453.6089594769726,
+            921.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1453.6089594769726,
+            918.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1453.6089594769726,
+            915.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1453.6089594769726,
+            912.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1453.6089594769726,
+            909.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1453.6089594769726,
+            906.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1453.6089594769726,
+            906.8131577124611,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1452.1089594769726,
+            904.2150815011078,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1450.6089594769726,
+            901.6170052897544,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1449.1089594769726,
+            899.018929078401,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1447.6089594769726,
+            896.4208528670476,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1432.0,
+            808.0,
+            102.413
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-2-57_1434322197/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-2-57_1434322197/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e78daf906e62a1d4e98846edd4c798852e4e4b6d
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-2-57_1434322197/pose.jsonl
@@ -0,0 +1,431 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            317.5332169979656,
+            458.20679539731816,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            320.1312932093189,
+            456.70679539731816,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            320.1312932093189,
+            456.70679539731816,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            321.6312932093189,
+            454.10871918596484,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            323.1312932093189,
+            451.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            323.1312932093189,
+            451.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            325.72936942067224,
+            450.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            328.32744563202556,
+            448.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            330.9255218433789,
+            447.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            333.5235980547322,
+            445.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            336.1216742660855,
+            444.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            338.7197504774388,
+            442.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            341.31782668879214,
+            441.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            343.91590290014545,
+            439.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            346.51397911149877,
+            438.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            349.1120553228521,
+            436.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            351.7101315342054,
+            435.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            354.3082077455587,
+            433.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            356.90628395691203,
+            432.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            359.50436016826535,
+            430.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            362.10243637961867,
+            429.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            364.700512590972,
+            427.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            367.2985888023253,
+            426.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            369.8966650136786,
+            424.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            372.49474122503193,
+            423.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            375.09281743638525,
+            421.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            377.69089364773856,
+            420.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            380.2889698590919,
+            418.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            382.8870460704452,
+            417.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            385.4851222817985,
+            415.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            388.0831984931518,
+            414.0106429746115,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            390.68127470450514,
+            412.5106429746115,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "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/medium_average/2025-1-8_23-3-58_1916250774/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-3-58_1916250774/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f21654c979eef2e0aee9f2af1156fd456fc0395b
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-3-58_1916250774/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1762.344488943952,
+            749.1877083504032,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1763.844488943952,
+            746.5896321390499,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1765.344488943952,
+            743.9915559276965,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1766.844488943952,
+            741.3934797163431,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1768.344488943952,
+            738.7954035049897,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1769.844488943952,
+            736.1973272936364,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1771.344488943952,
+            733.599251082283,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1772.844488943952,
+            731.0011748709296,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1774.344488943952,
+            728.4030986595762,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1775.844488943952,
+            725.8050224482229,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1777.344488943952,
+            723.2069462368695,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1778.844488943952,
+            720.6088700255161,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1780.344488943952,
+            718.0107938141628,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1781.844488943952,
+            715.4127176028094,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1783.344488943952,
+            712.814641391456,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1784.844488943952,
+            710.2165651801026,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1786.344488943952,
+            707.6184889687493,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1787.844488943952,
+            705.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1787.844488943952,
+            705.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1790.4425651553054,
+            703.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1793.0406413666587,
+            702.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1795.6387175780121,
+            700.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1798.2367937893655,
+            699.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1800.8348700007189,
+            697.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1803.4329462120722,
+            696.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1806.0310224234256,
+            694.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1808.629098634779,
+            693.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1811.2271748461324,
+            691.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1813.8252510574857,
+            690.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1816.423327268839,
+            688.5204127573959,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1819.0214034801925,
+            687.0204127573959,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1848.0,
+            652.0,
+            1.28007
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-38-9_2138982933/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-38-9_2138982933/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29a13f5855a97e183e1bae4e268479fcffffe194
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-38-9_2138982933/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1488.7383171136253,
+            -135.9240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1491.3363933249786,
+            -134.4240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1493.934469536332,
+            -132.9240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1496.5325457476854,
+            -131.4240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1499.1306219590388,
+            -129.9240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1501.7286981703921,
+            -128.4240819568838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1504.3267743817455,
+            -126.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1506.9248505930989,
+            -125.42408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1509.5229268044523,
+            -123.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1512.1210030158056,
+            -122.42408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1514.719079227159,
+            -120.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1517.3171554385124,
+            -119.42408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1519.9152316498657,
+            -117.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1522.5133078612191,
+            -116.42408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1525.1113840725725,
+            -114.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1527.7094602839259,
+            -113.42408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1530.3075364952792,
+            -111.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1530.3075364952792,
+            -111.92408195688381,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1531.8075364952792,
+            -109.3260057455305,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1533.3075364952792,
+            -106.72792953417718,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1534.8075364952792,
+            -104.12985332282386,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1536.3075364952792,
+            -101.53177711147055,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1537.8075364952792,
+            -98.93370090011723,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1539.3075364952792,
+            -96.33562468876391,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1540.8075364952792,
+            -93.7375484774106,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1568.0,
+            -68.0,
+            1.05541
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-46-42_972125383/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-46-42_972125383/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9c544040962b77d612e4a8c9b397b626440b7b66
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-46-42_972125383/pose.jsonl
@@ -0,0 +1,418 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            670.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            673.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            676.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            679.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            682.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            682.5417787369689,
+            -111.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            685.1398549483222,
+            -112.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755983084
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            687.7379311596756,
+            -114.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            690.3360073710289,
+            -115.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            692.9340835823823,
+            -117.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            695.5321597937357,
+            -118.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            698.130236005089,
+            -120.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            700.7283122164424,
+            -121.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            703.3263884277958,
+            -123.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            705.9244646391492,
+            -124.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            708.5225408505025,
+            -126.17315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            711.1206170618559,
+            -127.67315171396069,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            713.7186932732093,
+            -129.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            716.3167694845627,
+            -130.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            718.914845695916,
+            -132.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            721.5129219072694,
+            -133.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            724.1109981186228,
+            -135.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            726.7090743299761,
+            -136.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            729.3071505413295,
+            -138.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            731.9052267526829,
+            -139.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            734.5033029640363,
+            -141.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            737.1013791753896,
+            -142.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            739.699455386743,
+            -144.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            742.2975315980964,
+            -145.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            744.8956078094498,
+            -147.1731517139607,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            747.4936840208031,
+            -148.6731517139607,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            792.0,
+            -168.0,
+            -3.30387
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-47-52_1840019304/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-47-52_1840019304/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f036bf11cdb91cc29fda2e3cfa59e34672f5d520
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-8_23-47-52_1840019304/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            21.43589577624716,
+            -156.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            21.43589577624716,
+            -153.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            21.43589577624716,
+            -150.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            21.43589577624716,
+            -147.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            21.43589577624716,
+            -144.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            21.43589577624716,
+            -141.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            21.43589577624716,
+            -138.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            21.43589577624716,
+            -135.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            21.43589577624716,
+            -132.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            21.43589577624716,
+            -129.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            21.43589577624716,
+            -126.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            21.43589577624716,
+            -123.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            21.43589577624716,
+            -120.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            21.43589577624716,
+            -117.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            21.43589577624716,
+            -114.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            21.43589577624716,
+            -111.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            21.43589577624716,
+            -108.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            21.43589577624716,
+            -105.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            21.43589577624716,
+            -102.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            21.43589577624716,
+            -99.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            21.43589577624716,
+            -96.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            21.43589577624716,
+            -93.88926963726357,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            20.0,
+            -40.0,
+            31.11
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-12-5_1589513899/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-12-5_1589513899/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6fc207778b9e8d074641b548c93d8a5a6c8e84df
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-12-5_1589513899/pose.jsonl
@@ -0,0 +1,561 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            769.8197918176584,
+            403.46566555802667,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            768.3197918176584,
+            400.86758934667336,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            766.8197918176584,
+            398.26951313532004,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            765.3197918176584,
+            395.6714369239667,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            763.8197918176584,
+            393.0733607126134,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            762.3197918176584,
+            390.4752845012601,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            760.8197918176584,
+            387.8772082899068,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            759.3197918176584,
+            385.27913207855346,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            757.8197918176584,
+            382.68105586720014,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            756.3197918176584,
+            380.0829796558468,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            754.8197918176584,
+            377.4849034444935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            753.3197918176584,
+            374.8868272331402,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            751.8197918176584,
+            372.2887510217869,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            750.3197918176584,
+            369.69067481043356,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            748.8197918176584,
+            367.09259859908025,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            747.3197918176584,
+            364.49452238772693,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            745.8197918176584,
+            361.8964461763736,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            744.3197918176584,
+            359.2983699650203,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            742.8197918176584,
+            356.700293753667,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            741.3197918176584,
+            354.10221754231367,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            739.8197918176584,
+            351.50414133096035,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            738.3197918176584,
+            348.90606511960704,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            736.8197918176584,
+            346.3079889082537,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            735.3197918176584,
+            343.7099126969004,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            733.8197918176584,
+            341.1118364855471,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            732.3197918176584,
+            338.51376027419377,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            730.8197918176584,
+            335.91568406284046,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            729.3197918176584,
+            333.31760785148714,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            727.8197918176584,
+            330.7195316401338,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            726.3197918176584,
+            328.1214554287805,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            724.8197918176584,
+            325.5233792174272,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            723.3197918176584,
+            322.9253030060739,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            721.8197918176584,
+            320.32722679472056,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            720.3197918176584,
+            317.72915058336724,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            718.8197918176584,
+            315.1310743720139,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            717.3197918176584,
+            312.5329981606606,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            715.8197918176584,
+            309.9349219493073,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            714.3197918176584,
+            307.336845737954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            712.8197918176584,
+            304.73876952660066,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            712.8197918176584,
+            304.73876952660066,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            710.221715606305,
+            303.23876952660066,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            707.6236393949516,
+            301.73876952660066,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            696.0,
+            284.0,
+            -0.375038
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-43-40_962764794/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-43-40_962764794/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5fca6101c201c6fe438304f494001619b337876
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_0-43-40_962764794/pose.jsonl
@@ -0,0 +1,652 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1351.5579923641606,
+            64.54939871459632,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1350.0579923641606,
+            61.951322503243006,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1348.5579923641606,
+            59.35324629188969,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1347.0579923641606,
+            56.755170080536374,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1345.5579923641606,
+            54.15709386918306,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1344.0579923641606,
+            51.55901765782974,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1342.5579923641606,
+            48.960941446476426,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1341.0579923641606,
+            46.36286523512311,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1339.5579923641606,
+            43.764789023769794,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1338.0579923641606,
+            41.16671281241648,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1336.5579923641606,
+            38.56863660106316,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1335.0579923641606,
+            35.970560389709846,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1333.5579923641606,
+            33.37248417835653,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1332.0579923641606,
+            30.774407967003214,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1330.5579923641606,
+            28.176331755649898,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1329.0579923641606,
+            25.57825554429658,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1327.5579923641606,
+            22.980179332943266,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1326.0579923641606,
+            20.38210312158995,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1324.5579923641606,
+            17.784026910236634,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1323.0579923641606,
+            15.185950698883318,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1321.5579923641606,
+            12.587874487530001,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1320.0579923641606,
+            9.989798276176685,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1318.5579923641606,
+            7.3917220648233695,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1317.0579923641606,
+            4.7936458534700535,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1315.5579923641606,
+            2.1955696421167374,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1314.0579923641606,
+            -0.40250656923657857,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1312.5579923641606,
+            -3.0005827805898946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1311.0579923641606,
+            -5.598658991943211,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1311.0579923641606,
+            -5.598658991943211,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1311.0579923641606,
+            -8.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1311.0579923641606,
+            -11.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1311.0579923641606,
+            -14.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1311.0579923641606,
+            -17.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1311.0579923641606,
+            -20.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1311.0579923641606,
+            -23.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1311.0579923641606,
+            -26.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1311.0579923641606,
+            -29.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1311.0579923641606,
+            -32.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1311.0579923641606,
+            -35.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1311.0579923641606,
+            -38.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1311.0579923641606,
+            -41.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            1311.0579923641606,
+            -41.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            1311.0579923641606,
+            -41.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            1308.4599161528072,
+            -43.09865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            1305.8618399414538,
+            -44.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            1303.2637637301004,
+            -46.09865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            1300.665687518747,
+            -47.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            1298.0676113073937,
+            -49.09865899194321,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            1295.4695350960403,
+            -50.59865899194321,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1288.0,
+            -68.0,
+            -14.2865
+        ],
+        "shape": "test",
+        "dir": "left",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-16-37_2003980519/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-16-37_2003980519/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..444ef3e57c56a6091eb7f6e8ed20f7fc807efda3
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-16-37_2003980519/pose.jsonl
@@ -0,0 +1,288 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1993.8387173658498,
+            202.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1993.8387173658498,
+            205.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1993.8387173658498,
+            208.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1993.8387173658498,
+            211.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1993.8387173658498,
+            214.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1993.8387173658498,
+            217.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1993.8387173658498,
+            220.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1993.8387173658498,
+            223.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1993.8387173658498,
+            226.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1993.8387173658498,
+            229.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1993.8387173658498,
+            232.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1993.8387173658498,
+            235.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1993.8387173658498,
+            238.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1993.8387173658498,
+            241.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1993.8387173658498,
+            244.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1993.8387173658498,
+            247.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1993.8387173658498,
+            250.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1993.8387173658498,
+            253.43173447125838,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1993.8387173658498,
+            256.4317344712584,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1993.8387173658498,
+            259.4317344712584,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1993.8387173658498,
+            262.4317344712584,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1992.0,
+            328.0,
+            3.01289
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-2-48_1642663198/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-2-48_1642663198/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5fe218758e8bbb5cb9104bbd9c53af1d57edbda
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-2-48_1642663198/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1950.7208852560632,
+            -3.273177480946117,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1950.7208852560632,
+            -0.27317748094611716,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1950.7208852560632,
+            2.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1950.7208852560632,
+            5.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1950.7208852560632,
+            8.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1950.7208852560632,
+            11.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1950.7208852560632,
+            14.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1950.7208852560632,
+            17.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1950.7208852560632,
+            20.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1950.7208852560632,
+            23.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1950.7208852560632,
+            26.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1950.7208852560632,
+            29.726822519053883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1950.7208852560632,
+            32.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1950.7208852560632,
+            35.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1950.7208852560632,
+            38.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1950.7208852560632,
+            41.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1950.7208852560632,
+            44.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1950.7208852560632,
+            47.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1950.7208852560632,
+            50.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1950.7208852560632,
+            53.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1950.7208852560632,
+            56.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1950.7208852560632,
+            59.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1950.7208852560632,
+            62.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1950.7208852560632,
+            65.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1950.7208852560632,
+            68.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1950.7208852560632,
+            71.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1950.7208852560632,
+            74.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1950.7208852560632,
+            77.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1950.7208852560632,
+            80.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1950.7208852560632,
+            83.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1950.7208852560632,
+            86.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1950.7208852560632,
+            89.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1950.7208852560632,
+            92.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1950.7208852560632,
+            95.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1950.7208852560632,
+            98.72682251905388,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-48-31_1702943003/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-48-31_1702943003/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a65680e789611adcc3a9b3b9dbdf6dd35e1dbf91
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_1-48-31_1702943003/pose.jsonl
@@ -0,0 +1,548 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1976.0702956913215,
+            -3.016755543157018,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1976.0702956913215,
+            -0.016755543157017883,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1976.0702956913215,
+            2.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1976.0702956913215,
+            5.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1976.0702956913215,
+            8.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1976.0702956913215,
+            11.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1976.0702956913215,
+            14.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1976.0702956913215,
+            17.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1976.0702956913215,
+            20.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1976.0702956913215,
+            23.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1976.0702956913215,
+            26.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1976.0702956913215,
+            29.983244456842982,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1976.0702956913215,
+            32.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1976.0702956913215,
+            35.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1976.0702956913215,
+            38.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1976.0702956913215,
+            41.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1976.0702956913215,
+            44.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1976.0702956913215,
+            47.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1976.0702956913215,
+            50.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1976.0702956913215,
+            53.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1976.0702956913215,
+            56.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1976.0702956913215,
+            59.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1976.0702956913215,
+            62.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1976.0702956913215,
+            65.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1976.0702956913215,
+            68.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1976.0702956913215,
+            71.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1976.0702956913215,
+            71.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1976.0702956913215,
+            71.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1973.472219479968,
+            73.48324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1970.8741432686147,
+            74.98324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1968.2760670572613,
+            76.48324445684298,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1968.2760670572613,
+            76.48324445684298,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1966.7760670572613,
+            79.0813206681963,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1965.2760670572613,
+            81.67939687954961,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1963.7760670572613,
+            84.27747309090293,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1962.2760670572613,
+            86.87554930225625,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1960.7760670572613,
+            89.47362551360956,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1959.2760670572613,
+            92.07170172496288,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1957.7760670572613,
+            94.6697779363162,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1956.2760670572613,
+            97.26785414766951,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            1954.7760670572613,
+            99.86593035902283,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1952.0,
+            128.0,
+            -8.00905
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-36-26_1950148346/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-36-26_1950148346/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43fed82e3584ee116278f110831e8c2c500ce4fb
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-36-26_1950148346/pose.jsonl
@@ -0,0 +1,340 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1399.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1396.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1393.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1390.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1387.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1384.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1381.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1378.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1375.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1372.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1369.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1366.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1363.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 3.141592653589793
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1363.8524622069554,
+            922.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 3.665191429188092
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1361.254385995602,
+            921.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1358.6563097842486,
+            919.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1356.0582335728952,
+            918.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1353.4601573615419,
+            916.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1350.8620811501885,
+            915.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1348.2640049388351,
+            913.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1345.6659287274817,
+            912.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1343.0678525161284,
+            910.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1340.469776304775,
+            909.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1337.8717000934216,
+            907.7704227213935,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1335.2736238820683,
+            906.2704227213935,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -2.6179938779915037
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1296.0,
+            896.0,
+            0.734581
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-40-37_356228371/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-40-37_356228371/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..07d8cbb3b84a3ebe811fcfe8cffc09f206c7af61
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-40-37_356228371/pose.jsonl
@@ -0,0 +1,743 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            -85.00557731631348,
+            -88.09621777376371,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            -86.50557731631348,
+            -85.4981415624104,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            -88.00557731631348,
+            -82.90006535105708,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            -89.50557731631348,
+            -80.30198913970376,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            -91.00557731631348,
+            -77.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            -91.00557731631348,
+            -77.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            -91.00557731631348,
+            -74.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            -91.00557731631348,
+            -71.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            -91.00557731631348,
+            -68.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            -91.00557731631348,
+            -65.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            -91.00557731631348,
+            -62.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            -91.00557731631348,
+            -59.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            -91.00557731631348,
+            -56.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            -91.00557731631348,
+            -53.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            -91.00557731631348,
+            -50.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            -91.00557731631348,
+            -47.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            -91.00557731631348,
+            -44.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            -91.00557731631348,
+            -41.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            -91.00557731631348,
+            -38.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            -91.00557731631348,
+            -35.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            -91.00557731631348,
+            -32.70391292835045,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            -91.00557731631348,
+            -29.703912928350448,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            -91.00557731631348,
+            -26.703912928350448,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            -91.00557731631348,
+            -23.703912928350448,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            -91.00557731631348,
+            -23.703912928350448,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            -89.50557731631348,
+            -21.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            -89.50557731631348,
+            -21.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            -86.90750110496016,
+            -19.605836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            -84.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            -84.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            -81.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            -78.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            -75.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            -72.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            -69.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            -66.30942489360685,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            -63.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            -60.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            -57.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            -54.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 40,
+        "pos": [
+            -51.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 41,
+        "pos": [
+            -48.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 42,
+        "pos": [
+            -45.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 43,
+        "pos": [
+            -42.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 44,
+        "pos": [
+            -39.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 45,
+        "pos": [
+            -36.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 46,
+        "pos": [
+            -33.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 47,
+        "pos": [
+            -30.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 48,
+        "pos": [
+            -27.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 49,
+        "pos": [
+            -24.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 50,
+        "pos": [
+            -21.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 51,
+        "pos": [
+            -18.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 52,
+        "pos": [
+            -15.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 53,
+        "pos": [
+            -12.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 54,
+        "pos": [
+            -12.309424893606845,
+            -18.105836716997132,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 55,
+        "pos": [
+            -9.71134868225353,
+            -16.605836716997132,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 0.5235987755982988
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            16.0,
+            8.0,
+            1.51296
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-53-41_198619204/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-53-41_198619204/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30c122e8fce45ee79bccbb2ade6f4fca623e35ba
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-53-41_198619204/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1902.0804063569515,
+            25.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1904.6784825683048,
+            26.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1907.2765587796582,
+            28.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1909.8746349910116,
+            29.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1912.472711202365,
+            31.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1915.0707874137183,
+            32.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1917.6688636250717,
+            34.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1920.266939836425,
+            35.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1922.8650160477785,
+            37.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1925.4630922591318,
+            38.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1928.0611684704852,
+            40.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1930.6592446818386,
+            41.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1933.257320893192,
+            43.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1935.8553971045453,
+            44.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1938.4534733158987,
+            46.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1941.051549527252,
+            47.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1943.6496257386054,
+            49.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1946.2477019499588,
+            50.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1948.8457781613122,
+            52.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1951.4438543726656,
+            53.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1954.041930584019,
+            55.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1956.6400067953723,
+            56.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1959.2380830067257,
+            58.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1961.836159218079,
+            59.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1964.4342354294324,
+            61.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1967.0323116407858,
+            62.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1969.6303878521392,
+            64.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1972.2284640634925,
+            65.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1974.826540274846,
+            67.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1977.4246164861993,
+            68.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1980.0226926975527,
+            70.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1982.620768908906,
+            71.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1985.2188451202594,
+            73.48947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1987.8169213316128,
+            74.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1987.8169213316128,
+            74.98947638502446,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.047197551196588
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1989.3169213316128,
+            77.58755259637778,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1990.8169213316128,
+            80.18562880773109,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1992.3169213316128,
+            82.78370501908441,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            2012.0,
+            96.0,
+            2.4858
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-1_1374631287/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-1_1374631287/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..659916a2a93990a5273ebabe4e83483b78bb75e7
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-54-1_1374631287/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1119.010304789209,
+            768.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1119.010304789209,
+            771.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1119.010304789209,
+            774.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1119.010304789209,
+            777.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1119.010304789209,
+            780.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1119.010304789209,
+            783.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1119.010304789209,
+            786.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1119.010304789209,
+            789.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1119.010304789209,
+            792.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1119.010304789209,
+            795.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1119.010304789209,
+            798.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1119.010304789209,
+            801.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1119.010304789209,
+            804.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1119.010304789209,
+            807.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1119.010304789209,
+            810.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1119.010304789209,
+            813.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1119.010304789209,
+            816.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1119.010304789209,
+            819.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1119.010304789209,
+            822.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1119.010304789209,
+            825.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1119.010304789209,
+            828.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1119.010304789209,
+            831.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1119.010304789209,
+            834.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1119.010304789209,
+            837.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1119.010304789209,
+            840.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1119.010304789209,
+            843.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1119.010304789209,
+            843.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1119.010304789209,
+            843.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1116.4122285778556,
+            845.4075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1113.8141523665022,
+            846.9075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1111.2160761551488,
+            848.4075373336007,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1111.2160761551488,
+            848.4075373336007,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1109.7160761551488,
+            851.005613544954,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            1108.2160761551488,
+            853.6036897563074,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            1106.7160761551488,
+            856.2017659676608,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            1105.2160761551488,
+            858.7998421790141,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            1103.7160761551488,
+            861.3979183903675,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            1102.2160761551488,
+            863.9959946017209,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            1100.7160761551488,
+            866.5940708130743,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            1099.2160761551488,
+            869.1921470244276,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.094395102393186
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1096.0,
+            896.0,
+            34.2564
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-55-34_1902736997/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-55-34_1902736997/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6a43baf2b82090a5b92cb0b80d1f2a6f56d765fa
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_2-55-34_1902736997/pose.jsonl
@@ -0,0 +1,301 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1124.876719037415,
+            802.5375131835513,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1123.376719037415,
+            799.9394369721979,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1121.876719037415,
+            797.3413607608445,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1120.376719037415,
+            794.7432845494911,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1118.876719037415,
+            792.1452083381378,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1117.376719037415,
+            789.5471321267844,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1115.876719037415,
+            786.949055915431,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1114.376719037415,
+            784.3509797040776,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1112.876719037415,
+            781.7529034927243,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1111.376719037415,
+            779.1548272813709,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1109.876719037415,
+            776.5567510700175,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1108.376719037415,
+            773.9586748586642,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1106.876719037415,
+            771.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -2.094395102393186
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1106.876719037415,
+            771.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948872
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1106.876719037415,
+            768.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1106.876719037415,
+            765.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1106.876719037415,
+            762.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1106.876719037415,
+            759.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1106.876719037415,
+            756.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1106.876719037415,
+            753.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1106.876719037415,
+            750.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1106.876719037415,
+            747.3605986473108,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1092.0,
+            708.0,
+            64.9253
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-20-29_1145975358/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-20-29_1145975358/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e20712fcecf6131fb690422559d096e06a51c072
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-20-29_1145975358/pose.jsonl
@@ -0,0 +1,535 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            620.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            623.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            626.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            629.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            632.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            635.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            638.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            641.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            644.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            647.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            650.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            653.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            656.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            659.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            662.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            665.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            668.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            671.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            674.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            677.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            680.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            683.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            686.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            689.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 0.0
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            689.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": -0.5235987755982988
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            689.622593036182,
+            96.19577413443008,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965976
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            691.122593036182,
+            93.59769792307677,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            692.622593036182,
+            90.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": -1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            692.622593036182,
+            90.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.523598775598299
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            695.2206692475354,
+            89.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            697.8187454588888,
+            87.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            700.4168216702421,
+            86.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            703.0148978815955,
+            84.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            705.6129740929489,
+            83.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            708.2110503043023,
+            81.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            710.8091265156556,
+            80.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            713.407202727009,
+            78.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            716.0052789383624,
+            77.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 38,
+        "pos": [
+            718.6033551497158,
+            75.99962171172345,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "action": {
+        "imageid": 39,
+        "pos": [
+            721.2014313610691,
+            74.49962171172345,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": -0.5235987755982894
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            740.0,
+            68.0,
+            34.5123
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-32-15_1624064901/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-32-15_1624064901/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30ee69ff83ecd864ac340eed809193994119528a
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-32-15_1624064901/pose.jsonl
@@ -0,0 +1,366 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1961.1401584840426,
+            71.97209520350157,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1959.6401584840426,
+            74.57017141485488,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1958.1401584840426,
+            77.1682476262082,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1956.6401584840426,
+            79.76632383756152,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1955.1401584840426,
+            82.36440004891483,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1953.6401584840426,
+            84.96247626026815,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1952.1401584840426,
+            87.56055247162146,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1950.6401584840426,
+            90.15862868297478,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1949.1401584840426,
+            92.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1949.1401584840426,
+            92.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.617993877991494
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1946.5420822726892,
+            94.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1943.9440060613358,
+            95.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1941.3459298499824,
+            97.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1938.747853638629,
+            98.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1936.1497774272757,
+            100.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1933.5517012159223,
+            101.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1930.953625004569,
+            103.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1928.3555487932156,
+            104.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1925.7574725818622,
+            106.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1923.1593963705088,
+            107.7567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1920.5613201591555,
+            109.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.6179938779915037
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1920.5613201591555,
+            109.2567048943281,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.094395102393205
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1919.0613201591555,
+            111.85478110568141,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1917.5613201591555,
+            114.45285731703473,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1916.0613201591555,
+            117.05093352838804,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1914.5613201591555,
+            119.64900973974136,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1913.0613201591555,
+            122.24708595109468,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1868.0,
+            168.0,
+            104.903
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-52-49_1166437685/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-52-49_1166437685/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..716f90b7a9ca5f8b1adbc41ea8c477683018c5f1
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-52-49_1166437685/pose.jsonl
@@ -0,0 +1,509 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            819.0680447526934,
+            858.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            819.0680447526934,
+            861.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            819.0680447526934,
+            864.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            819.0680447526934,
+            867.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            819.0680447526934,
+            870.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            819.0680447526934,
+            873.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            819.0680447526934,
+            876.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            819.0680447526934,
+            879.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            819.0680447526934,
+            882.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            819.0680447526934,
+            885.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            819.0680447526934,
+            888.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            819.0680447526934,
+            891.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            819.0680447526934,
+            894.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            819.0680447526934,
+            897.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            819.0680447526934,
+            900.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            819.0680447526934,
+            903.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            819.0680447526934,
+            906.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            819.0680447526934,
+            909.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            819.0680447526934,
+            912.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            819.0680447526934,
+            915.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            819.0680447526934,
+            918.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            819.0680447526934,
+            921.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            819.0680447526934,
+            924.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            819.0680447526934,
+            927.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            819.0680447526934,
+            930.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            819.0680447526934,
+            933.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            819.0680447526934,
+            936.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            819.0680447526934,
+            939.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            819.0680447526934,
+            942.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            819.0680447526934,
+            942.0757689464725,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965979
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            820.5680447526934,
+            944.6738451578258,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511965883
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            822.0680447526934,
+            947.2719213691792,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            823.5680447526934,
+            949.8699975805325,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            825.0680447526934,
+            952.4680737918859,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            826.5680447526934,
+            955.0661500032393,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 35,
+        "pos": [
+            828.0680447526934,
+            957.6642262145926,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 36,
+        "pos": [
+            829.5680447526934,
+            960.262302425946,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "action": {
+        "imageid": 37,
+        "pos": [
+            831.0680447526934,
+            962.8603786372994,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.0471975511966072
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            836.0,
+            988.0,
+            -0.816864
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-9-20_5631942/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-9-20_5631942/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..144ff44a6ba007024e13fb2fd1e26fdaa08a4120
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_3-9-20_5631942/pose.jsonl
@@ -0,0 +1,470 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            518.5714037879061,
+            245.25815619282886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            518.5714037879061,
+            248.25815619282886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            518.5714037879061,
+            251.25815619282886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            518.5714037879061,
+            254.25815619282886,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            518.5714037879061,
+            257.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            518.5714037879061,
+            260.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            518.5714037879061,
+            263.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            518.5714037879061,
+            266.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            518.5714037879061,
+            269.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            518.5714037879061,
+            272.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            518.5714037879061,
+            275.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            518.5714037879061,
+            278.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            518.5714037879061,
+            281.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            518.5714037879061,
+            284.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            518.5714037879061,
+            287.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            518.5714037879061,
+            290.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            518.5714037879061,
+            293.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            518.5714037879061,
+            296.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            518.5714037879061,
+            299.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            518.5714037879061,
+            302.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            518.5714037879061,
+            305.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            518.5714037879061,
+            308.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            518.5714037879061,
+            311.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            518.5714037879061,
+            314.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            518.5714037879061,
+            317.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            518.5714037879061,
+            320.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            518.5714037879061,
+            323.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            518.5714037879061,
+            326.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            518.5714037879061,
+            329.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "turn left",
+        "value": 30,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            518.5714037879061,
+            329.2581561928289,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            517.0714037879061,
+            331.8562324041822,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            515.5714037879061,
+            334.4543086155355,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            514.0714037879061,
+            337.05238482688884,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 33,
+        "pos": [
+            512.5714037879061,
+            339.65046103824216,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 34,
+        "pos": [
+            511.0714037879061,
+            342.2485372495955,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            508.0,
+            368.0,
+            0.299706
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-14-36_2124149955/pose.jsonl b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-14-36_2124149955/pose.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6e37baeffce877191dfc563f5f9396f46e897cde
--- /dev/null
+++ b/Image/env_airsim_18/astar_data/medium_average/2025-1-9_4-14-36_2124149955/pose.jsonl
@@ -0,0 +1,444 @@
+{
+    "action": {
+        "imageid": 0,
+        "pos": [
+            1462.3450036892343,
+            363.99664105325314,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 1,
+        "pos": [
+            1460.8450036892343,
+            366.59471726460646,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 2,
+        "pos": [
+            1459.3450036892343,
+            369.1927934759598,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 3,
+        "pos": [
+            1457.8450036892343,
+            371.7908696873131,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 4,
+        "pos": [
+            1456.3450036892343,
+            374.3889458986664,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 5,
+        "pos": [
+            1454.8450036892343,
+            376.9870221100197,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 6,
+        "pos": [
+            1453.3450036892343,
+            379.58509832137304,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 7,
+        "pos": [
+            1451.8450036892343,
+            382.18317453272635,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 8,
+        "pos": [
+            1450.3450036892343,
+            384.78125074407967,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 9,
+        "pos": [
+            1448.8450036892343,
+            387.379326955433,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 10,
+        "pos": [
+            1447.3450036892343,
+            389.9774031667863,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 11,
+        "pos": [
+            1445.8450036892343,
+            392.5754793781396,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 12,
+        "pos": [
+            1444.3450036892343,
+            395.17355558949293,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 13,
+        "pos": [
+            1442.8450036892343,
+            397.77163180084625,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 14,
+        "pos": [
+            1441.3450036892343,
+            400.36970801219957,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 15,
+        "pos": [
+            1439.8450036892343,
+            402.9677842235529,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 16,
+        "pos": [
+            1438.3450036892343,
+            405.5658604349062,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 17,
+        "pos": [
+            1436.8450036892343,
+            408.1639366462595,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 18,
+        "pos": [
+            1435.3450036892343,
+            410.76201285761283,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 19,
+        "pos": [
+            1433.8450036892343,
+            413.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "turn right",
+        "value": 30,
+        "yaw": 2.0943951023931953
+    }
+}
+{
+    "action": {
+        "imageid": 20,
+        "pos": [
+            1433.8450036892343,
+            413.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 21,
+        "pos": [
+            1433.8450036892343,
+            416.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 22,
+        "pos": [
+            1433.8450036892343,
+            419.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 23,
+        "pos": [
+            1433.8450036892343,
+            422.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 24,
+        "pos": [
+            1433.8450036892343,
+            425.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 25,
+        "pos": [
+            1433.8450036892343,
+            428.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 26,
+        "pos": [
+            1433.8450036892343,
+            431.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 27,
+        "pos": [
+            1433.8450036892343,
+            434.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 28,
+        "pos": [
+            1433.8450036892343,
+            437.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 29,
+        "pos": [
+            1433.8450036892343,
+            440.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 30,
+        "pos": [
+            1433.8450036892343,
+            443.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 31,
+        "pos": [
+            1433.8450036892343,
+            446.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "go straight",
+        "value": 3,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "action": {
+        "imageid": 32,
+        "pos": [
+            1433.8450036892343,
+            449.36008906896615,
+            -8.37259322125965
+        ],
+        "type": "stop",
+        "value": 0,
+        "yaw": 1.5707963267948966
+    }
+}
+{
+    "aim_landmark": {
+        "color": "test",
+        "feature": "test",
+        "position": [
+            1420.0,
+            484.0,
+            -10.4725
+        ],
+        "shape": "test",
+        "dir": "center",
+        "size": "test",
+        "type": "building"
+    }
+}
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100925.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100925.png
new file mode 100644
index 0000000000000000000000000000000000000000..1bfb83f37f163b6cc1a64c6966d9b55be55cbeb8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d92332cbfb2922c4f6317cfaeb5d1b6d74ec744c13433a3adbf6341dfb53517
+size 851701
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100927.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100927.png
new file mode 100644
index 0000000000000000000000000000000000000000..54664ac81259007bc91dca528796a1c48e062eec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b6f0d335884cd180dd63a5e60c39aa68d266560400b80165ed5e622cae20bd
+size 808930
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100929.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100929.png
new file mode 100644
index 0000000000000000000000000000000000000000..83c1efa66423281c76004806ec115c4f6186b017
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:718f03357a2fdf70836d3504929eec0ba69fb2a5035e77d60c2a3908ff540e3c
+size 805310
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100931.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100931.png
new file mode 100644
index 0000000000000000000000000000000000000000..e10929cd1c73440611ee9c05253d882bd2725d38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1f63f3a659f06ab9b13dacd0513854fde669924a9c5422315c35e7e6b652fe0
+size 800526
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100934.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100934.png
new file mode 100644
index 0000000000000000000000000000000000000000..0089b7af85b24d41bce727129a4dea768f3247c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100934.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42105124fcbdaac4a4702935d44366c9fb76fd56f5adee2b6d0a44481ae62fea
+size 798037
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100936.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100936.png
new file mode 100644
index 0000000000000000000000000000000000000000..322e1046994070bcb132cff4967c4b72a4552c4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc817f92f370b9971c1bf026747d8d613ca55026c87728cba230fbd5b5af74b3
+size 797386
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100938.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100938.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c24058a458b2426ec445a05fd74fe260d064b9b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc69267a9ea73213a2caa0fd1769b1e4e38171140541f17cf707bca2d1f4eeb2
+size 793163
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100940.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100940.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f4cdbdc97c55dbd0f9daae602f97255e63cd000
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:982e3727459c7a1551fe91e2d8004834b400037b0fc572653ec5db9cee10dbed
+size 788877
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100942.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100942.png
new file mode 100644
index 0000000000000000000000000000000000000000..80f7f537c25f2eff49c1b3312a1b58987d21384b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa34e71a2194697cf342f04aa23da1f09780932e4f6314bd9e92014028d32ee
+size 783241
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100945.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100945.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec28e87c0ca4f977505c92ef8d2d2a7c2250e532
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100945.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46d3464d876241b428481018386c9c214c0a746d020dfc8c888aacd622239f09
+size 771088
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100947.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100947.png
new file mode 100644
index 0000000000000000000000000000000000000000..71b7480ac7e4c394db20bdb3d9b0f3dc93b0bcf3
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100947.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fca1e760e877245530bb922342620bb472c0f71382c9b0a5a126dfd82352ded
+size 765215
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100949.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100949.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d33464d1e8f7367c7e7b91b5b66e19c2ceb7abb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100949.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e30f1532476f7e2a0f5a03703016d58a973ee92c162e4f6bbb592ac6fe997c5d
+size 753257
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100951.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100951.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6dc38e00b26401410a2fbed6c46dd3fcfa22f09
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100951.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf45d47be0fe281bf9e900c10b8a4e0bc69d59fd9cc283d194d1d2bfdd5c5d6
+size 746689
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100953.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100953.png
new file mode 100644
index 0000000000000000000000000000000000000000..084c7fe90a4220dfa2d8df052fee0026ed9ec3ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e110499f63b138b7b4594338f6c4d78a3c3c3dc15acb06abe01f5fec68eef3c1
+size 742609
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100955.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100955.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f950001b9f3708e6530f1c7660ad791fd305397
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc0c7278269386aef9f51fbdb5d8445691b1320b647771cbaefd7d10b518515
+size 731800
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100958.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100958.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9469ebd3ee7a8a34f313941ce172332e98cad34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_100958.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3adc7f95bb6f16af6c82218ba6beb16ef18e5d5d0b1b41069567d2ce3d9f07a
+size 726459
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101000.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101000.png
new file mode 100644
index 0000000000000000000000000000000000000000..cd5c4c1f83752f468e666bb19495b2491f81ae51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101000.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e7ba0e09c754eb4e420ba7b5b1441423467c8c147d7b8842c5c0571a1d23406
+size 730842
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101002.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101002.png
new file mode 100644
index 0000000000000000000000000000000000000000..52074f3f0c3559723726a17b8f08fdcbaf53355b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101002.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8780344171916eff5d8f67c7c4f84cf6a406d873f05f9606084d613707a933c
+size 720489
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101004.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101004.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c78265b69fa35199a403b760354e2d71f63fc21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101004.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad84054151f2fcb87d9b26f78ae1dd724774303c475b7384bf3099070bed38d5
+size 642591
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101006.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101006.png
new file mode 100644
index 0000000000000000000000000000000000000000..1ce7d8da3f394346807a506ecf8dfd92797a297b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:632f5800b78c29599015894b75c1660dcfd83a575ede98bed670e80635b07cec
+size 634304
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101008.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101008.png
new file mode 100644
index 0000000000000000000000000000000000000000..81eba327b2524e5796ca2f6ed4401becbadd78cc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0268dca91c9a9bece4c0128e65f3596b7ad75c645940a2cb98a6084752b80628
+size 632722
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101010.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101010.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4630705987e65e023d6272b92d81c546673a25e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bed9a752823e5972525c5bc07fa704d29c0633e59f6af8ee41e6ee0d3150936e
+size 633084
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101012.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101012.png
new file mode 100644
index 0000000000000000000000000000000000000000..05e799dded1cd72e996af6a9a51a1af8b8e719a1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e359494f0f6bc682ff93df137d449385009933f5d42270f4d988dfdedbae6b
+size 630625
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101015.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101015.png
new file mode 100644
index 0000000000000000000000000000000000000000..505a7ad13455631a4a63e19f51627e07f2b68f51
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101015.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:220506aa03e0a7cf7ce6d0c2c7f65b7a04e764f62b5bfc67ad7c531a298dcd86
+size 631006
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101017.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101017.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bd8ec1a2dee47b17149571c2b33b9cbf91e377e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101017.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f4b94eb929d991d94d4e5bd95d743fbcdbdf46fc3f54070a78498cde4c8e99
+size 631237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101019.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101019.png
new file mode 100644
index 0000000000000000000000000000000000000000..97dc3563d014d5b03d7f064799ffb8d1beacffed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101019.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed9b36c653ebb55d7ffea97bed828e2ca767429673aedd307b6a676e317343e6
+size 632550
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101021.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101021.png
new file mode 100644
index 0000000000000000000000000000000000000000..94d0e2134b8820c3cd5b95631275afff0d321996
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101021.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f690a43abab844bc0a306e9811552b0a77651a044efdf8159410904c770cd5ef
+size 635225
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101023.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101023.png
new file mode 100644
index 0000000000000000000000000000000000000000..e981ef83d402bd66610fd2f7325e776fd2968b05
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101023.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4add7e3bc27278e6902f70fb2833dfab2a037885896ad21879d1e7cb27507efc
+size 639982
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101025.png
new file mode 100644
index 0000000000000000000000000000000000000000..60b209aed850732b9c24cc1b277525c37b4de185
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:babced4cea4669f4b51c869a1b4dc8b2dffa33a6931baf9f1b51fdf2819b9efd
+size 642268
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101027.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101027.png
new file mode 100644
index 0000000000000000000000000000000000000000..fef0091db6dda02059b38bc0cdd66abbc2834fb5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b53717d93cc6ea50ad5538302f6797298de1a5b3be46ce448920e9f2bb40588
+size 642472
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101029.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101029.png
new file mode 100644
index 0000000000000000000000000000000000000000..faac1b2cd08252a158ac8705fbc099fc5fe0229f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d15db42068eff2626157e9354c100531514cc61b12d225ebffd3076d43fc9e
+size 648461
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101031.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101031.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d9699d6e69101765c5d05db38ebed547e5b787f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dfc03af0b6780370d60b82c01f1e2122618dfabe90f29151969b3a16d76fce4
+size 648761
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101034.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101034.png
new file mode 100644
index 0000000000000000000000000000000000000000..19fdc614a7d58307f5fa5c62ca19b896b55d25b5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101034.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf61923bd46d520ef4853ed6e4f60bcf16d63f8873a7accca821834a0cb99a3
+size 690765
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101036.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101036.png
new file mode 100644
index 0000000000000000000000000000000000000000..27995c9f7574fa4f00e0b0714ad3f47400544b52
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101036.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a604e2bd4e4e5806dbdbe8925cf0203f6dd26f127294fcdd35e0f39fd8ad7b73
+size 691202
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101038.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101038.png
new file mode 100644
index 0000000000000000000000000000000000000000..425df400e46e1613f483ff01251cc29cdea5e64f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101038.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac58cbb1e308595629789b1393c2b568e448a058d543cfe292558fab449fad17
+size 695225
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101040.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101040.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fb6554d70211272f1aee502d46e5d620ed88aef
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da14ab570ac6f4aae113b13f691da99f9187a812a36c3a03078c0fad464f216
+size 707108
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101042.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101042.png
new file mode 100644
index 0000000000000000000000000000000000000000..09665e117b33c606c57e2dac556d32f0b6ef57e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4eeb7da0029c3cb1f4bdfa1fd20a1ddb66f77f8e898abdf7dacecf52e7a889b
+size 712309
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101044.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101044.png
new file mode 100644
index 0000000000000000000000000000000000000000..48ca5b88213896fd948ab73a00ed14094307d7a4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f499de4b678c6297b43ed1ca253936abf046b7f2b82ef09bef50f3d0216a1f82
+size 715215
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101046.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101046.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7d90d214e84e147e1349045e5e8cb47810518f1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4557cbbbe91415d5bba94513c8c26a70946d2c1ad71c60792289a0a16869aed
+size 729596
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101049.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101049.png
new file mode 100644
index 0000000000000000000000000000000000000000..d622aedf6b18991de92abd6ba230d3ae7c0c5ce9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101049.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5caf0410cedd3a830d3bd95e5be925e3dc9f7933ac7eb3857d1e78d639833273
+size 745578
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101051.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101051.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b3ef35318f77f07d7f07c4efcfb78caa5d265bc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101051.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0374da9eeb080dac991aee5581603b2069b0e8be3696c6bcd38f010bfd9d6249
+size 767505
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101053.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101053.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e260693a65621076bc6a5a7849f6187592ed479
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101053.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa10e9a32043ffa74778c1aa1a76f36da05a394f8d5c85d7f5db38f7333e1bbc
+size 773070
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101055.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101055.png
new file mode 100644
index 0000000000000000000000000000000000000000..1b342e57dfef6e8cc2cd9a516e5a0a7b434b8125
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8583820fa2ac4534f24ac39c0ecb7a188188377e61932b567a51ce5d81a2d098
+size 753872
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101058.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101058.png
new file mode 100644
index 0000000000000000000000000000000000000000..4526695b57a944b48d78be5101efe7d27b94a350
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101058.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee9583f6b5fa962e220511aed895100a4cbc1958779b1f3a731e605d7895fd4
+size 755500
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101100.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101100.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a0bff4db9fdfddcde636acb8c8c6b32b7f6cc66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101100.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8542d7b36e118ccccf8ed9a9f507790d10e3be0a0f9dca3459f424fe98998a6
+size 754493
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101102.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101102.png
new file mode 100644
index 0000000000000000000000000000000000000000..58612fa323608a004a004293102026777e88695c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101102.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aacc13d252dd3e8e814569b0459492ef0fefb035cf70193dddaa69162e837b34
+size 757099
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101104.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101104.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c32a61515dcb71b90c07ae1859aa97f44caa0f4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101104.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1306a0281d998e247964e8171065da246d5c65a4f002e9b3c8ded29f3b0b930e
+size 755318
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101106.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101106.png
new file mode 100644
index 0000000000000000000000000000000000000000..ebde6b06458024878d641e690eb59e90db4f24a0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101106.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f04d2467043a690e1cea06dea0c3840103394cb563913cc9143480c8d573aa
+size 756825
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101108.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101108.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb5fa41e310473cc54f0d7371693a809474585b4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a7cace1ba445fcc81a69ed45823beb52aca4ec14693dccbe741fe38f46471e5
+size 756616
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101111.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101111.png
new file mode 100644
index 0000000000000000000000000000000000000000..150467d0cfd33b5a87ccb57a17259c3467fe27b6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101111.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af5553f40680b8f5f6ef046ba5c42e5f6e7ef602c7840893ce66e51b73781eab
+size 754426
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101113.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101113.png
new file mode 100644
index 0000000000000000000000000000000000000000..f56598dd46d79390a7ef1fd9a512b29a012061af
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101113.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49a9606f322e13f22a8e50515ae0d933348609b5d355cd32ee54b32397365002
+size 788352
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101115.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101115.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9abef969cd856fbf25084d726b5957d647d3eb2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6c33737239a3acffa521b1e522ba8aa7b0b06b4fdb80f1456a38f1d5fc23d6
+size 785966
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101117.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101117.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ce44b026f19a27bc3462dbc6a7f5ecd778d52de
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101117.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c49237c0d577e3355a682067f36eaaedeb8b9f2979dc6ffc1ba00a26088c21
+size 787963
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101119.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101119.png
new file mode 100644
index 0000000000000000000000000000000000000000..b7cd1fb1056c7c0794eeca93055eb8599ed37f7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101119.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f4e37f35a9b390931d64e129958af701d3fce62083373773652b5945afdae8
+size 792444
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101122.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101122.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f3dfd3b5b1509da4dd00ec36c1267597c9512fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101122.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0455e91f514fa3286f242c1889a1b3702f921cb769b55bbe62a9388872924d94
+size 796758
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101124.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101124.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f9fc75be1c9dccf05daea771f6d7c84e726f764
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101124.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8e0546ed062abbf8ca60ab388be216bfdbccf7f89ed4e42483c6a786d66848
+size 797525
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101126.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101126.png
new file mode 100644
index 0000000000000000000000000000000000000000..aedcf1db74fecba73655c6184cb30609c5ffae44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101126.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e99a32c40df3146c6407365c23b7591ed68eb04e6b20a9c6cd5c64a5b1e654
+size 802579
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101128.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101128.png
new file mode 100644
index 0000000000000000000000000000000000000000..43348f9904c8f7f982f47223ff9ec7d453e60d20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2d48db53c564c53bb516e4931e484101241a07d0839237fb4b164883b89f77b
+size 802782
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101131.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101131.png
new file mode 100644
index 0000000000000000000000000000000000000000..c19b1b6efcd881e19cc66a1dc0e3ce8925b9c2d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101131.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6227b7c35404e28f0931c1fffd6127bd02318246af5f89d6f60c126850b0d78
+size 802715
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101133.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101133.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcd5b696d19029055c01399c2aa646057d398cbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101133.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478407046e92a31103a818def158b6a11ab1bdfab440d0e6413fccff90a6849c
+size 800336
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101135.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101135.png
new file mode 100644
index 0000000000000000000000000000000000000000..8a16909eed7d434fc5a91ab7b77202232e6de9ae
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101135.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7cdfd49ae624f30ad658d8bcea0f66ecbd44b2ac327eb9e01a426fbbcaed1cd
+size 800027
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101137.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101137.png
new file mode 100644
index 0000000000000000000000000000000000000000..95b2b75034bfc0c5d27c1691915ddd2d374103aa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101137.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d7a5628a14845eb87c38fc02006ee3fcfab8ec396947e5aaa49b80e9d09536
+size 799017
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101139.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101139.png
new file mode 100644
index 0000000000000000000000000000000000000000..f06a109277a0d29328d31740724af99519843feb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101139.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98ea138e36c7f7b55609723f00e1c92b807b8d68f5fbd914cd0c788c4b0860f6
+size 794689
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101142.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101142.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b648c7640a6b9676b07289a00ff6e59f1dccb6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101142.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3efe91a1c2afe24867fcb595c19001206c4f9a1e453a625f9e09a92aaacad8b7
+size 765648
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101144.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101144.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb995491f578dc23e6d52fc3982b9ace33ddf435
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b28b4a886aa011f858090d9b72c23e2f00cba016e8a7710a31cf7fe8ab3ac9a
+size 735325
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101146.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101146.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c06db07ba425ec85e82f7131e901aa1a1e9aee2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101146.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:697430ec06f8c1a07bcaa7e342a632cd44148b51fc84415c43cb4d1627ba83b7
+size 727898
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101148.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101148.png
new file mode 100644
index 0000000000000000000000000000000000000000..ab414286b3db9fe0867e0a1c807fc23601c4258b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101148.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20277905ec34d2a5c010055e188f58ebe670543acf8960d2f2078424c759b48a
+size 741083
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101150.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101150.png
new file mode 100644
index 0000000000000000000000000000000000000000..467ab76e5021aa600ce1e20db688f94717f0f6da
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101150.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b971031d72d3b0c1b144fae17ecc68bff830b2346e35a8759a2bd0294e01317f
+size 757307
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101152.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101152.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e8e1d71914d1cba9b4574a4c6e8e2677693e9f8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101152.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545444b203bcb59e2f0cda79ec59fb8a702328916e0d43828d9b2725be22ef4e
+size 766454
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101154.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101154.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbc12b3eb71215999b987dd8770575bf59fdce33
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101154.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a7c8631e1672455f715831f6b38fed3c8542529a3537bf04b9ab00bbd43c9d
+size 768152
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101156.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101156.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee8263720c88ff672b1d45a548a9b2025a4e53d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d88d6d3233a609a6334bcddf0801a22a1b3eb863a250203e493bb454e6e9c46
+size 766755
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101158.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101158.png
new file mode 100644
index 0000000000000000000000000000000000000000..7207db62693319bb06c54645083ec2e47681a285
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64bebc105cc75d6cb98dc64d778adae94c62aefb4b1ec5cece16e6b7f72a3735
+size 760793
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101201.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101201.png
new file mode 100644
index 0000000000000000000000000000000000000000..08615652118ebd4730c849f2a300638215ea4402
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101201.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6e9dab603ad5e4264a42bf92af979b21cec4d1133e772e5374e1cda3434ac8f
+size 764959
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101203.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101203.png
new file mode 100644
index 0000000000000000000000000000000000000000..d513d6a7bea804cad4939a9f95831f44a6fb0819
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101203.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15bcfa19e8ecebe0607feea880aeb8eb770bf25bb06294df914db2a90f939e4d
+size 771563
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101205.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101205.png
new file mode 100644
index 0000000000000000000000000000000000000000..44f541288e6481d0ce80a17e7f5028e24103021a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101205.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d573b99d17975287bd940c22a18a54fccb2f7021cdf57d14869c0776d603a69f
+size 779104
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101207.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101207.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c5075b13ee61ab6d4b7080cc278c3b1ffee91fa
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49d05aec114188c40c7e0a68ca3a9ea378152ac97fdfe58420bc19b8529be577
+size 817725
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101209.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101209.png
new file mode 100644
index 0000000000000000000000000000000000000000..a09ad61c2931bf82abc03daa3ab4ba22a4d5ba09
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1508df23a7db071dd098b7db9ab6bf8523d2a62f0652c5b96a6a554b7933485a
+size 861589
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101211.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101211.png
new file mode 100644
index 0000000000000000000000000000000000000000..49cdbb7e0bb6cce1b9dd5ef5bca2fc68c10c5782
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_10-9-19_828388027/20250115_101211.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38af3e9ced1338ac8363051b1b656854241fc8f30e8e9e38d93692b146bfb0fc
+size 878432
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084113.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084113.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd7037d1231f28d1bab387073413b84322c5ac09
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084113.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b8e8f6bf43be9b88cfb5b0f82b20d3bf4aa1c8822272b1d53b64ff4b23e16a6
+size 505429
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084115.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084115.png
new file mode 100644
index 0000000000000000000000000000000000000000..9cce2a0411a5fd11e7f47b66c0fd52f020020532
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084115.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d762881d90c0ac750ea5e9282f6a93a4968999a3abf9339389178041178b9575
+size 824475
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084118.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084118.png
new file mode 100644
index 0000000000000000000000000000000000000000..c39c3e5e8e4aa61561e4117eb3dc7ea5095f4b2a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084118.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1519ca3d8e18da35bb9fa77dfdd803e466cdf36424175572ee7b8765f9edcbf
+size 809217
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084120.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084120.png
new file mode 100644
index 0000000000000000000000000000000000000000..06ba13775b4d9018aed7145c59cb0370585b03b0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084120.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27045208025787058ef02caf829ed39cd2a2b408ef9f71dd2680fcea42249d5
+size 826890
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084122.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084122.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5dfa3cb0456a18c6923653a958b02134f954180
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084122.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9d1da99ea11bf6bb63c122b3a5586c755a29953405ae8df69fbe0019cba3736
+size 812716
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084125.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084125.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d546bd562891a3241a4ddca2fc97dd1c086d73f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084125.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3d9a617234b0e52160ef28dc961ba01be38437c7df1669468c67ef5e263267
+size 817636
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084127.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084127.png
new file mode 100644
index 0000000000000000000000000000000000000000..20e6cacc0ab7279870f9bca5d070b5b010508b24
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084127.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ac9b52af2db8b28266a707cbc908c69359b704b63b0cbb43bb34ecd3b6c805
+size 824237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084129.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084129.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eb45348a6322843e83c3b12d5548bf94649375d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084129.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c699881ef33c1df0d10a124304c0990683f50cb0d3c2877f689d5ca7c0ba0ef1
+size 832079
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084131.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084131.png
new file mode 100644
index 0000000000000000000000000000000000000000..0255a981b39eb63913ce78503f7ff688bd520807
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084131.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d96cd05dab1ce50e6cbc7885f259f866b2f7172f2db6c7d8814debb6f3c8f1
+size 836226
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084133.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084133.png
new file mode 100644
index 0000000000000000000000000000000000000000..59532b6dce8810beec61df630acd7959c894ad08
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084133.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfa4168913d0c53b6b5f178d533e75015bf5468c0ea4e6d6debe0d1aedec13a3
+size 841973
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084136.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084136.png
new file mode 100644
index 0000000000000000000000000000000000000000..34fe5e99742d2a1a903cbebaf42ffcc4c9dac993
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084136.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb8340e6f7e99d30624ed366ec97a6c6c7d69cf6b05227ee22290a914cc4e9b
+size 841677
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084138.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084138.png
new file mode 100644
index 0000000000000000000000000000000000000000..4849868f2947523df00aea05e4e1cdaff72bc8eb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084138.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6708497bb7a2f50ba4cf3ae84f601f45d494fcc70570b93b6e0e7d0cc3638f
+size 841405
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084140.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084140.png
new file mode 100644
index 0000000000000000000000000000000000000000..120115ec2db12b6e3d8392b4dfc8f7f41faf93c5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084140.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb97cc5231147afd2e17efecd664736706de7248fd2917c9029186a7d7b0a36a
+size 843757
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084142.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084142.png
new file mode 100644
index 0000000000000000000000000000000000000000..787d79c4186d35900a3ec150518b3d18a06fb4ee
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084142.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afbe266a663d1415be3b0c6b0fa12f7d8992fd1dd2b6ffd970c1717867dcf51
+size 846616
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084144.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084144.png
new file mode 100644
index 0000000000000000000000000000000000000000..d42fe051a5b342a8426ae693437f3442777edd6a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084144.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e42f2778d1a22ede1382f5b5d91c91855bc237795b8b4493795c547c1b8dd73
+size 849908
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084147.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084147.png
new file mode 100644
index 0000000000000000000000000000000000000000..5136567e0a7707bbe06b7885928569f4037dfc0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084147.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144132dbcdeeba3af92d6750501f9607e97c4a9d2af4f8cff01092683e942784
+size 851993
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084149.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084149.png
new file mode 100644
index 0000000000000000000000000000000000000000..0dd1c20f0c1ed4eaf96eb45e258851f9454018ac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084149.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d3e29b3963e0d4c6b5b04df998828ae7310e3e8c72ceee05e4c52743997ed13
+size 853399
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084151.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084151.png
new file mode 100644
index 0000000000000000000000000000000000000000..dd8a0257eb4bc0b453178caa520f8825576471c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084151.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d4895532a1862b323efe2427504588adf74322505e5a692efa3fa60349f7f7
+size 856166
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084153.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084153.png
new file mode 100644
index 0000000000000000000000000000000000000000..b5fe1ca72e8d1bbf79b7c93b8e9b4bbe3a69d97d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084153.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7ca8f45f60029606ec404a6a97add5a678dc83426e3062a5929cc75bae21aea
+size 857990
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084155.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084155.png
new file mode 100644
index 0000000000000000000000000000000000000000..56bc57371634f7e8c224436495a36f351f99f6c9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084155.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbf3b4f703584e7f4e14afba42073ee7e5c16e29fd6860588cc280b90ef9aa4f
+size 864279
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084158.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084158.png
new file mode 100644
index 0000000000000000000000000000000000000000..6b98eb33b57570d4050e7a83b9d978562818f9f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084158.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ed11a502264fb6cf78ac292afdef529b81a6b5f15d83b82c431f1af53dcc7a
+size 868732
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084200.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084200.png
new file mode 100644
index 0000000000000000000000000000000000000000..b03c40343306a70e23715ca6001c9d23299c4186
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ef18e886fe1ec2b185afe798b1bc615a0559d2ad429ebe336a96ef0ddd24b4
+size 865950
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084202.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084202.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b6521a2bacf899f46f90f78e5b4d5fdb3f5693a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084202.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f74ca0fb25aa8828ee7cdcccef61ff0ec7ea717e4954b25416194b58a9750730
+size 863829
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084205.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084205.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2952eff74ff57f59137f28ac6ce91a479618445
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084205.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a0097277f60e79149ef32899b079968268bda22782b2440e67e4348b04b4802
+size 864664
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084207.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084207.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b0dd8e7a54694c7122bc5ad22e19c9d492ff541
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cf211cdca79c60ac20c65fdb78f00e74f44d842f2982c30f7eee4909124215b
+size 862272
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084209.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084209.png
new file mode 100644
index 0000000000000000000000000000000000000000..2abbcfcb27ff354f4d99414026599eaa79afec6c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e01d089b1981da204d1bf131ef406a575cfbd712ac3da554fecda170764a56
+size 861010
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084211.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084211.png
new file mode 100644
index 0000000000000000000000000000000000000000..100060b2d93621b070f125a5276e5d6649c72233
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084211.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5734fd384b541f67aa212bc1b3c67055003dfc8100d39d2d23d08b4c7e083805
+size 861520
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084213.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084213.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1dc2fc719cda7f223cf03d36609378f419445fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fa058c88467c99fd753d8809fae7618217daf5e1e634679060821f9ca3f2dab
+size 839009
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084216.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084216.png
new file mode 100644
index 0000000000000000000000000000000000000000..8fe291a900357af82f0b9223604a1b456a61431e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084216.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbcfc3268891e06b35c1da831cf0c5d804193e8c707cf1d9f88c5f49684dd1b2
+size 846742
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084218.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084218.png
new file mode 100644
index 0000000000000000000000000000000000000000..54071ca382345b785d818bda57d9c38fc5c8d604
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084218.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14996c7417abfeb23dcd066ac800384e326802baaf054f9e818c9cec25200349
+size 845308
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084220.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084220.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8da95d45bf59e4a95af85b50f1e4554febe6224
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084220.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fcfc35f464f69f762195e417697026bfcfd7f38505191484b6f55ea6dd9bec
+size 844275
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084223.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084223.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e42a978713dd85daaeda0d361eee4459ccb12d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084223.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd9746439933b9f9cefe4098f6742fdbae8c11b6fdac8fa1adb611f83c45da32
+size 843103
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084225.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084225.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e5c566814e8b3d455ccd26ab1cf2140fa154238
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084225.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6cc774e321f4e2f4fc4aef9913f82e3db840cc1dc25bfd29cdf63083b24e090
+size 845588
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084227.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084227.png
new file mode 100644
index 0000000000000000000000000000000000000000..73fac4f5ad451ebce142e54df547bf0d1242525a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084227.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0435c6d282f2401090d213724f985d8b395e530fe32c7de9fc5269f616c29bd
+size 846525
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084229.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084229.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c0a7fc34ca5885c7bc8965ee09e82776d41377e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084229.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ea2d8b2f3f079a389e212bc02018fe9f3837d99ccdb14fb7597dece9e334ac9
+size 846310
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084232.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084232.png
new file mode 100644
index 0000000000000000000000000000000000000000..51f3f390e6561005c95d2ecce8d903771055fe5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084232.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dd9f8e3893ff492bccaee26cd5e305793243d4f1cb7f7b672bc32e003dfe9ab
+size 846149
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084234.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084234.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b5fa4a5ca77a6c42f81204fdcbd7000f8bb52cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084234.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c74d6025214267ad624e2fbba735410ace9c1175208ea147d6835af96a3f2ced
+size 844012
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084236.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084236.png
new file mode 100644
index 0000000000000000000000000000000000000000..2133a9b0ee413ae37f6b5fa7ee4597b28811df72
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85739338489147cf35698e3ed597ff44c80ac5ccabeb78d0821725cbb0808f61
+size 837486
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084238.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084238.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f0501a7f0028f4f2feccbb68b3bae495f555173
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbb2d93b5b81a8add3a4907511e5b9c9a3902be38d0275c60bf16d16e6ecb9a
+size 829622
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084240.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084240.png
new file mode 100644
index 0000000000000000000000000000000000000000..1645bc08d1d79f519bc7ea514447d9e4c23baed7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084240.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:008632794e87169b2d9412164940efd2733cb2b4cd817aa65b113d7d65d43c1c
+size 820258
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084242.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084242.png
new file mode 100644
index 0000000000000000000000000000000000000000..39c1a9d8fad77db12aaeddc609a2f888ac07de62
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084242.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f95e1d633f8a3141520d1d985c2f1ad7b6c1994f33d78c6ef4b3efeafb87a99
+size 809023
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084245.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084245.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9ae0f128a0aa63720c4a53f9d257dd2c1363c91
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084245.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79d6caab6411ccf8ba3dc02db6b59ed8eb812c18d2a86390e9858a0562b7e9d
+size 802640
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084247.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084247.png
new file mode 100644
index 0000000000000000000000000000000000000000..34ba7302b5f40049ccaeda70bd5b759edf92550b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084247.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:976338d02d191a605cbdb72afc0d70107ab6356a580d0c2a2038e38af500936f
+size 793564
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084249.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084249.png
new file mode 100644
index 0000000000000000000000000000000000000000..349306e8def50ed3114a5e9f6330f76414ddb803
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084249.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf216cc70cff165d550544be0c27488d7adcdc503d5c0b569928e1321db04df2
+size 773173
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084251.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084251.png
new file mode 100644
index 0000000000000000000000000000000000000000..4dae6b2c451b1d9f08f46317aa67f7cfa87e0207
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aa9b0b8a70dcc18e854be421b8e616e1236b9da5ccb3f00dec1b262c5543e7d
+size 726494
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084254.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084254.png
new file mode 100644
index 0000000000000000000000000000000000000000..5616d249932254b46396ec549e000104611ad9f9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084254.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05f0af87df362a8a0d631f5ed35359cf889e1efcd347aabcec3470a2c2d1401c
+size 684209
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084256.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084256.png
new file mode 100644
index 0000000000000000000000000000000000000000..970b9c0e56d707ab2aae6989a927bd473452285a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-15_8-41-10_777210498/20250115_084256.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6878ba5afbf1f07b40c5408ea754837b798e2c4c6366d095035c0735187fe0c4
+size 451724
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003153.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003153.png
new file mode 100644
index 0000000000000000000000000000000000000000..e34f5b4a5ac56f5cc3c45beb1c24efadd7bb8b71
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003153.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49b7fb33cc5e60b1753e38fe2e33e842cc5c8231bf977339dc44daf5e0fb8613
+size 754512
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003156.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003156.png
new file mode 100644
index 0000000000000000000000000000000000000000..801a589b8190cfc95179f305750e928dbec7d297
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003156.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86cd4ba7e04e18040f29e6ac0dd43394a2122a652cc43208953c4809bbd3e9a9
+size 772438
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003200.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003200.png
new file mode 100644
index 0000000000000000000000000000000000000000..22a1a598f99ae947f3b9c76f08459f9d51d9c817
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed3d76e7865a1d2c9608c783223bc4a7b209e27703b175a58c0b8e168481c89
+size 719909
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003202.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003202.png
new file mode 100644
index 0000000000000000000000000000000000000000..9b16521a5cd041a2b47761e280f240362b15d8ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003202.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbbe1d46b0376b672c4afb8dbf04e39b0b592e7e6778cbf405ad91c3a73c1cb5
+size 723536
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003207.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003207.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dbd690a838cd139059bd35b66a0874099a1c538
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003207.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247f3994df5e04db7bad34ce3f4cd86313bb8eeb407b304a0bfd3f9cf7612b54
+size 718909
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003209.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003209.png
new file mode 100644
index 0000000000000000000000000000000000000000..8776c8007795b0af696ab723610afdfb800ffc20
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003209.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17e697515dba38aa9b88735480ab1b7b8ed17e1642b451b886310c5ed80ba49f
+size 685861
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003211.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003211.png
new file mode 100644
index 0000000000000000000000000000000000000000..01e9ae5715e5aa6a6db7d5ec16757149dd2f9636
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003211.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5cfaf7cec91f1532e733ed6928b3ee0f54b33b9239bd7547f14824d99fb72c5
+size 670383
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003213.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003213.png
new file mode 100644
index 0000000000000000000000000000000000000000..032c41e83859fc5397dc41741d67926b908a1845
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003213.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8b2e9f042db0a6bfe052e4da1a99c8d7f48d2f9b8deba176d199aff9f34a32
+size 664568
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003218.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003218.png
new file mode 100644
index 0000000000000000000000000000000000000000..c2f8b24a8dbba8f94dfedc8569d29637e3ca6c18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003218.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d98c37f1dccc28452350d6d6d57ce16f92cc6ffe1aa4c47e2b24145a176b71b
+size 679156
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003220.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003220.png
new file mode 100644
index 0000000000000000000000000000000000000000..c85aa64c392020d7eeaafb21d4a0a5758ea25ca6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003220.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:668faad6c422bca99f7e64cf03f1a2d825bd189605bcca04aaa86879ff851729
+size 693546
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003231.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003231.png
new file mode 100644
index 0000000000000000000000000000000000000000..06fc358036cf8d4073563e70fccad293b5f402d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003231.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30baff2153e1bf86f2a462f9f83588afc43e0f19361ce25db619590e8d153ef7
+size 689147
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003233.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003233.png
new file mode 100644
index 0000000000000000000000000000000000000000..e10eff85f24cc201485e799a767e8e063920fb92
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003233.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f72e5295250b925638341d1b4d73b29a572ded174e4e797f5fedf01aa0558f5
+size 690519
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003236.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003236.png
new file mode 100644
index 0000000000000000000000000000000000000000..acd3158b2f9342a1822a3b4c22af8f0df5981243
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003236.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a879cbb82a7d7cf8b019e82afa9c8994c26e0d2cb8adb002e18f7ba445ca0a0e
+size 692754
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003238.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003238.png
new file mode 100644
index 0000000000000000000000000000000000000000..7540a292951ace6c380e940887c1bbb3c5e86974
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003238.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb1cc3a92762398c7391ce362c37a770dac773f2d72ea4bb96e909c06f7c668
+size 693073
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003242.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003242.png
new file mode 100644
index 0000000000000000000000000000000000000000..46a7f4832ecdbe740079073638b122ef7d163d43
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003242.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f2b2166821a92afb855127cffdd3dde91de2de5da4512203c3400ed6542f6b
+size 695686
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003249.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003249.png
new file mode 100644
index 0000000000000000000000000000000000000000..1d9803a6b1bdf8803672dd22fddb2061474241dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003249.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e76432f2f56578148765d34b55c1ae319a7689d05b2fc4302fa6349f2d34b5f
+size 698151
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003251.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003251.png
new file mode 100644
index 0000000000000000000000000000000000000000..1cf1255fabc27df0305348e68df02f8d7354489f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003251.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be9c420762f152d96345ddafb935957570591d71f903dd154e1b508cf96ba51f
+size 700216
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003253.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003253.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0021a8358745a561c204abd7e309be61a9a1675
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003253.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a9ed43a42dcb489dced59114bf16a1000ce018ecb9cb3affc4753cb96e632a
+size 703450
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003255.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003255.png
new file mode 100644
index 0000000000000000000000000000000000000000..f186bc3900e5577a7feb6dab0703cbd7891c2091
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003255.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2e400d295c54d969fe47743dae84d5245ce462ba6267c7f6f6d6d4a7c36d16f
+size 704392
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003258.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003258.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c057f730a1e7a613dd86c57ef879e7e54857e48
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003258.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f16d90d9cd2eef4ebf16b529cd245ee59141ec090ca27aea7e78b269c77517
+size 705860
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003311.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003311.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7c584f042ca68099910bc7c0fff2597325aa3ab
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003311.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43aa3b4ae3ead20839f13ac0d1520633a310bea07a06cd91004f1f6160aaab4c
+size 719629
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003314.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003314.png
new file mode 100644
index 0000000000000000000000000000000000000000..bc18eb4e12a41e573d905e846da16ae8b152ac5f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003314.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecfef7fad72c1a6b7389e490217d2f72cdd93a42d7d92381be3cbf681a415907
+size 719379
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003318.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003318.png
new file mode 100644
index 0000000000000000000000000000000000000000..11f88e92477974e17be92ab7a5ede273437033ce
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003318.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6861d1d1e95080a3e1256c2be2bec769d2ae8e1920b87d0a1d2c32d61800a2b3
+size 717404
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003325.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003325.png
new file mode 100644
index 0000000000000000000000000000000000000000..31eeaf9cac2880a1e99e15d9b7e3eb9970439222
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003325.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1943fc67752a12bd2ac473782af17d23783d118f6dd5fefa53846f54048db61d
+size 716419
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003329.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003329.png
new file mode 100644
index 0000000000000000000000000000000000000000..a46295e148fa0144c28461e33fab2e74d8502a41
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003329.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3166ea99516779be720105df90aeecf47ed00faf3312b9abe2931fc239f50c8a
+size 715549
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003334.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003334.png
new file mode 100644
index 0000000000000000000000000000000000000000..9416ccc89ad9214946c3e34d86f1715298b97e0f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003334.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5935ba181256c04c653b29bd8f286cef97e36c6e1e712aa0836876676b5c0ea
+size 718570
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003343.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003343.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d5cbb68184bfeee565c7518f6fe7ed069054b8c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003343.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de5f24500cd0813380b2443b9bc16be06cf4a17536e4bcb2b99e994edbfcc496
+size 781674
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003345.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003345.png
new file mode 100644
index 0000000000000000000000000000000000000000..110df0f0efd0d436e45c443e9668fc5a2d5d69d2
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003345.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c98131e62681fa66cfd8a2a1b71bec6423dc2d7e9e9a553c961fc11495edc5b
+size 783964
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003350.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003350.png
new file mode 100644
index 0000000000000000000000000000000000000000..0580c8f9c6a7e88122159e128a5c134d0c3e284a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003350.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43a0c0110c7abdd8f96d104e6abcde9f3d09a83591a1bf28caaf78a48062f55e
+size 803826
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003352.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003352.png
new file mode 100644
index 0000000000000000000000000000000000000000..80fafaca88c3bb9c254d91e08c27c4b2c09728d5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003352.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a807dc2b0ba039a2a27311b2beddc38c5fd73bc2448766e6ba530c369f2bed
+size 817987
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003357.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003357.png
new file mode 100644
index 0000000000000000000000000000000000000000..5d299dcf4a61c99b626f380b9ac9ac10aa9b234b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003357.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614e0260c22897c3ead522c2a9f0789d573384780623968423ef32443213de77
+size 850986
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003359.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003359.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9521dbcf0b6bda4ab762cf9d8bf855da0ad1394
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003359.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e3a424915c0a8883b406c98f4fb0dbe3f4239ddf2af5e81df3d5ba2c075828
+size 861577
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003401.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003401.png
new file mode 100644
index 0000000000000000000000000000000000000000..667c67397cac2a5f87d5812b414a237ac94b6a00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003401.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5b6ca5ae73785940b075dbe3752da0e84d4f0fea61cedc97dfddb5a98e9b63
+size 834663
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003404.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003404.png
new file mode 100644
index 0000000000000000000000000000000000000000..3163f4a426519e29278e97baa46190c6262ee002
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003404.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9932d4b4e3af17b2a7a428d8976fb6bc6158bbc807a268f1d9a3d30ff036511
+size 785123
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003406.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003406.png
new file mode 100644
index 0000000000000000000000000000000000000000..9fd9f33bb392b7602bc64324cbaee86ba6626b03
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003406.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50f0bdbdec23e909206eac49facde10c55c1f5102db3fc6d81522ee45077a4c0
+size 732061
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003410.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003410.png
new file mode 100644
index 0000000000000000000000000000000000000000..e32d6125731abb9324ec81c9070411a91b774ad1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003410.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a514d8b3a321c85c58b91b29dfcf4cf6a06409b4c9a4ae4560a2a1ab9ba84c4
+size 695237
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003413.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003413.png
new file mode 100644
index 0000000000000000000000000000000000000000..4738d1a4d7dce4e2f8b6aeceb1eb1f6285111f68
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003413.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3139a8fba82e274ffe64e7494a5818c14261915d13c410f015406d7d06c2b246
+size 728767
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003415.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003415.png
new file mode 100644
index 0000000000000000000000000000000000000000..b302d5b12542048ff40714475bc34a1ec95d36ba
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003415.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff447576efae51d9ba1739b6633b09aa7b67d9575aeec8cf214799b624e03773
+size 755543
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003417.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003417.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d301e04b9e6e0c6d43fbb722ec06638befcad18
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_0-31-47_672139932/20250116_003417.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fbf02344b70946d7178eb23a4bec21c894ef76062f25806b0135398c35da80c
+size 753045
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014041.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014041.png
new file mode 100644
index 0000000000000000000000000000000000000000..c7310180144a6a9d077abeed381c20bdb52e59ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014041.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31400e452343e98f8c3d62b5b0fb79f3657ac1dc3fe0f5efe2b308a35ed325ef
+size 801762
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014149.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014149.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e50761e327bebce4c765c28209b48d22239b16
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014149.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828ea0ffe2c2313ec95f27afcad1fdfc23cb20163a16fc9dbfaf4d594d0c06a4
+size 762941
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014151.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014151.png
new file mode 100644
index 0000000000000000000000000000000000000000..3553c8921b9a48a5d546a5f58c6903c2f6109a5b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014151.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d775934e514a3c34c14629a639a3229ce92a1997ec2c754659e43af68e929e
+size 765180
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014200.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014200.png
new file mode 100644
index 0000000000000000000000000000000000000000..32665cfb684cad4bc49f3a625cf89de4e95cc09f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014200.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b991bfb3c506e0012ec6e739ea2a6d49c5f16f3c5ebdce1be7ea92179f624d0e
+size 766858
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014234.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014234.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b5c33fb4f89fb96e38d2e887d040f1bb6b38a60
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-40-22_384370888/20250116_014234.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1afbdabeafb15484eea395b3a22b9e4d53b9c2da8f2045b477eb4800d078b4
+size 760984
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015727.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015727.png
new file mode 100644
index 0000000000000000000000000000000000000000..06da4ce42e081efcbc84295209f08879a6eedd9d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015727.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32e5e6c1eb219d92385a9a6787308914e0852f1ea0cec812e14eebe2a29793e9
+size 849539
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015729.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015729.png
new file mode 100644
index 0000000000000000000000000000000000000000..63841135e4d7ef277300ae921fb3c12a7f89ce34
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015729.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a91ec2927f88b2af0447b10add4608078316ceb34fd327a47b440e0278b641f1
+size 789926
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015731.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015731.png
new file mode 100644
index 0000000000000000000000000000000000000000..c50ad511b0a85f23c41c2c077a1d45cac874286c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015731.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4273ef6f5e110bc05461e78608faeb611010126c25f4b2808ca4b75f263f91f4
+size 785084
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015733.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015733.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cbe26c39e24d00b90204f63877995b545245253
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015733.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d53f0694c78415437006daab0bdb88987b08e9d6e5008e32773688154489e3
+size 783227
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015735.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015735.png
new file mode 100644
index 0000000000000000000000000000000000000000..9832d18304f9379579cacddd0755fa523bdee1f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015735.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf700817bf1f767f2816ea5ab0eb68a26d3a8e3eb507b7792d0c4de74b65913
+size 771642
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015737.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015737.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b7a14b620d2e150e42ecde3eb17e1bf84f44202
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015737.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5149f0f522f085db2da264e060a42c5372771d5c776c4edda49da59c6cc20bdc
+size 783786
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015740.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015740.png
new file mode 100644
index 0000000000000000000000000000000000000000..68e24ef5a56940cd76b3d241a7abbed1988cf525
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015740.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5379b3041463c8377b69f50916705fa6beea7a093d3e4bf1bcd7a631645e90f6
+size 794981
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015742.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015742.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c7e9f2a34772f875a881fb571704e32559aef01
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015742.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1827a6696fa04f73f40bc070b6ca2f12d4b0a08b6b56bed2d318a5345c2b728
+size 798560
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015744.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015744.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c363c469ecf28c2487a4933ad4acf8fe09a5852
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015744.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82306b47910affa13b67914d2bde33bf22a51a5d17ec34bc1ddc6ab84d69d65c
+size 804381
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015746.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015746.png
new file mode 100644
index 0000000000000000000000000000000000000000..98b46cb4b06bfd09de2b55ac83525fc5caec62e1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015746.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bca1a2f97288c21a05647776bc102770a5d33bbf40aaa300ca530a92838c3fd
+size 807283
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015748.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015748.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8f7b053082a5a309703885aa7bce73d306b90d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015748.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85446ef64313c2b82b57abb681af9309f5a4d1523a65fabbe967b39c0304d31b
+size 814445
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015751.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015751.png
new file mode 100644
index 0000000000000000000000000000000000000000..d51bc27bfccbbb4e6de0ff058930b64e521795a7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015751.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:766d8a4e819b914c2092ee320f58c8c29440ebb8449535a8af2006bd1cddec4a
+size 818035
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015753.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015753.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c55f9a34b9abb96028431d14c9b2eceba8d84d1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015753.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:099b5fe92ddce51f044b5d9824db05d4b67a0ef28485fb5557a3ea78e04f3706
+size 825073
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015755.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015755.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9a620f220918203e12c20cc33bf763d231d0ce4
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015755.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2d46b8cbdeb7f932f29a22f700d3795352921b5f9ee4e45eb016f6f7298600
+size 828189
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015757.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015757.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e9293e3eff2d956c2a83942025172b0db1bdcc1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015757.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4300c820368dd2792ffdd9a33575681826a7b3d073e2d72e0fb789069996f69a
+size 824793
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015759.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015759.png
new file mode 100644
index 0000000000000000000000000000000000000000..be2ab5f193d338d8c1437d7fac87139d022433c0
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015759.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0878f9928e077ccbe79e06c15d6ded68672f7ef6083bb4d756470bd2262a233
+size 818286
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015802.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015802.png
new file mode 100644
index 0000000000000000000000000000000000000000..c0f590618fab5e3a21fbaa80cf1ef880a972b78b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015802.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69b88d67baaa5e83ba852746b75196e0f74ccec009f3c8de9381302b776781cb
+size 815081
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015804.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015804.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8b0150921f05532c524509e0586418caf68fd40
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015804.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d53472472d19e31cc771faf1ab7ae4996d42159d473c0d436257711ac12fa97
+size 823270
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015806.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015806.png
new file mode 100644
index 0000000000000000000000000000000000000000..02a0d3205baa4355c37821107a8bebbab07b8d2b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015806.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e4b73fd4f091efeb96ad38c8f43e7e64eff5bca0df2930cb534157444420320
+size 820727
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015808.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015808.png
new file mode 100644
index 0000000000000000000000000000000000000000..aff2ba7da798d922085a8b261a7d0c0fea3b4eed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015808.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e7ad82879abf5d2de329daa46b65a1026a04a5e5d2739ef9ce561612524c69
+size 813697
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015811.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015811.png
new file mode 100644
index 0000000000000000000000000000000000000000..76aae4b72bb48cbfa9be2cfd7f514876ed75779c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015811.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb50864499f2d3f5b07ef2b8afa8ffdea1fde1790701cfef84b8ea78cc4a4414
+size 800278
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015813.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015813.png
new file mode 100644
index 0000000000000000000000000000000000000000..945344a7f3429931af31a4bded66fe74b7e4d530
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015813.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0299f39d9ebc07194115b99483550744a38a08fc01be003a9c05fb21036b3b4
+size 791303
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015815.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015815.png
new file mode 100644
index 0000000000000000000000000000000000000000..b09811eb72a11141d6cf17dbc9216e9793caca5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015815.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2580d7d8cba51d0acadc6851dea2f0f3b435b697715e7e58e2eae113628d98ad
+size 788731
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015817.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015817.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5802c2242c682e0ee45b27d90cd62ba0865f4dc
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015817.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8213d4dd9d34d262cca35462b43e4a1a7080d0c7d9c5b8a4f8be7608a8fd13
+size 783989
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015819.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015819.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9763434778b284a4b270c4587b773b7de724129
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015819.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cf357e7056aafc6b50c69b6ab142c46c27efb3e1d438cfaa33853c7e939301d
+size 783301
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015822.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015822.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e5d3d9899c619229bf7d33b0defcb000303cc9f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015822.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d712df6411ce1d0da484d24a362680a7377aa579af8e15d8a3784ecca3dba166
+size 774268
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015824.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015824.png
new file mode 100644
index 0000000000000000000000000000000000000000..42ea6e59812c7b4d4ee675fee2517859d4a87bcb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015824.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3e5f33014c21ce7173e17efc31965e94d36d5fd5a821e69fd9131b09c9334b
+size 768006
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015826.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015826.png
new file mode 100644
index 0000000000000000000000000000000000000000..eff8ad479e8733bb65f07e38bf04cd25d50c295a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015826.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a72979f1f29e913ffb3175ec4bb560c8f4e3cb1c6194265d563beb68787b62
+size 749287
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015828.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015828.png
new file mode 100644
index 0000000000000000000000000000000000000000..e101de8f9bfc58e7499f1c2cd055ae266f617c9c
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015828.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:858b1b760989df7f01fdae0ae03ea1276e4809c0e8cc931c0604e5c55ea60cbe
+size 738375
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015830.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015830.png
new file mode 100644
index 0000000000000000000000000000000000000000..55483b81c37dd40fe725e506da55224a7483523d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015830.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f008322c3ced9139e4338d26451f0e19817a62bedfbbfec985eeccd22015e83
+size 775106
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015832.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015832.png
new file mode 100644
index 0000000000000000000000000000000000000000..5169ae4ccd9583a5601f877549e508f568a87790
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_1-57-21_223712350/20250116_015832.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a7423f934e7ba26879ad61f928dba97d6996174a1c0ba392c74ee697b9dc0d7
+size 652205
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044915.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044915.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d203bbc94a38fffde47c373eaf0a72e099edd21
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044915.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83dc0d22f5d8e52059a7b2bd62f1e5a4f439ebd66f48c97207dab86d30e379bc
+size 636212
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044917.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044917.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ded56a28527b78ac6af63858b7dda694075ee44
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044917.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26ef7d3f60ba01ed57e42520a190677d83938c92260df4a12ed9397f09051b4
+size 657655
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044919.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044919.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0978f04b75aff0b01cb49e9b9a577701950ad66
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044919.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12875ed6384d7d236616770c42f89b59cbdc1b07487f6bc6d9836b9ed845034e
+size 677015
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044921.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044921.png
new file mode 100644
index 0000000000000000000000000000000000000000..b39271a2a6378cebdaef0fa92478e99860960e38
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044921.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63761a283354df11a3e039253c1d6b1f46e59c4e09e6ec6e8bf8b29a87b98480
+size 675386
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044923.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044923.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a83de74a2adf1428edb7542a3fcff6ed6fc12a6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044923.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1b2cfbab53f45a44964d9ce3bfe252ae70525a0d87e3a49bbce3d6fd92c87e6
+size 674593
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044925.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044925.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b7a5d52f8e17a24e80d00d34386f89ec24b9d2d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044925.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:289193ff20b763881d50456843ec486ee323801cbcb54c2dd2d72aa24d4eff90
+size 671499
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044927.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044927.png
new file mode 100644
index 0000000000000000000000000000000000000000..4fa9b8a5e1362216e3d54d0d3c6acde471a77cfd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044927.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:effeed965062772bfc681200f740efc660989d7550093501563f690581e9df50
+size 673571
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044929.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044929.png
new file mode 100644
index 0000000000000000000000000000000000000000..59c798301fdac5c3c04eabbe9719838f62abd7a8
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044929.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53079f8be39b886e0082d4942c24ea88e83a820fc81f04b1796b16b5ac92ae0a
+size 675014
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044931.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044931.png
new file mode 100644
index 0000000000000000000000000000000000000000..faf2598210ce48844212bc666b6ca6fc4bf51dc1
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044931.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c21bc3abfe2b9a79e1916fe4f99cbeacefb8d97145523f9d04113791dc89659
+size 675345
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044933.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044933.png
new file mode 100644
index 0000000000000000000000000000000000000000..abb8c76aae9807bce3bbebfc74c0fd9865c6875a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044933.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e205a0cedb1c050eb5724945cbebdcc817ce3c0fc1c1b18beb4067e383eaa08b
+size 678672
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044936.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044936.png
new file mode 100644
index 0000000000000000000000000000000000000000..27e696edd571618e437d0165f53a08ebc73a6ffd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044936.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:817d1edb385f19f8af251ddbe9e0ab07bb90404c30420f203e4f3fcc2ea19f95
+size 682649
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044938.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044938.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd0e552ecee2981a7fd7e9fd15e62d90635406dd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044938.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10f4ff700336620e8e5a1f68800d0fa2d23b55070d2a1185043af49e597d577f
+size 678644
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044940.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044940.png
new file mode 100644
index 0000000000000000000000000000000000000000..580d5c5f20fe5c0ef7ab1a9362cffe15d4f3c982
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044940.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c47280a61a07ba17b6a50e934bbd55075101bc02d8d1017172cc53cfc801a44
+size 676752
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044942.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044942.png
new file mode 100644
index 0000000000000000000000000000000000000000..a478fdec6cf77657444bdd5494f3f53c6a903d75
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044942.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9437d71237b7f816c5b87cc227e6cd248679cc3dab32f31a9b71fca8aa7b8831
+size 675722
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044944.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044944.png
new file mode 100644
index 0000000000000000000000000000000000000000..8650828c0a4e869231ec05e293e0921e32662f7f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044944.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c00ae6c51eccf08af6ffdf5c5c0f9118a6cf7088e2ca1eceb1f5865ba12eba
+size 675152
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044946.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044946.png
new file mode 100644
index 0000000000000000000000000000000000000000..373b0998830f786ab7a332d660a5b2ef55ef75bb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044946.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f09380d77c61767b64a1900c101bbdb8934d6520721f890a85461cf008d5d211
+size 673250
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044948.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044948.png
new file mode 100644
index 0000000000000000000000000000000000000000..0cc4b0b26582debaf2f25ed1de8206f5674452fd
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044948.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa8f567b5df802739cb6c7cc0139f31093b2bf7bb7535c39e96a4c4fc7865085
+size 674017
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044950.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044950.png
new file mode 100644
index 0000000000000000000000000000000000000000..c89aa962ae1696bbca6cc8e2e8ca2b4d27d15fbf
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044950.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c553135a6fca1e74bdd653b2f4150e43de613c1081c618d19217da514d93d150
+size 672456
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044953.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044953.png
new file mode 100644
index 0000000000000000000000000000000000000000..de3af7c05d41c5a18fefc7906be562216cba216a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044953.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad9f740398af8ba2e3d179fd21b8e7a768078d0218264a21c493b2bfb5efb0f7
+size 671304
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044955.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044955.png
new file mode 100644
index 0000000000000000000000000000000000000000..9c91f7eafba29af99a85cc4b81acd3779fa55c4e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044955.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c422d060ec5a027d491b45ec2e6b5f0533a8ce7d0b73673740796897ae6cb5d3
+size 669644
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044957.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044957.png
new file mode 100644
index 0000000000000000000000000000000000000000..4da524050424aa54a6b2e27ec711ecd21f0d34fe
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044957.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0fee6a9f05a4c81283a6fd521288626c22cabd0a30e8281f19404e610f80bf
+size 667327
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044959.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044959.png
new file mode 100644
index 0000000000000000000000000000000000000000..27b8aab36cbc73ef50cea7a2155a66f5809d7fac
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_044959.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5683043b09967e09bb8126116f5474f2f555049f5e0ce20bdd9364c68496a5
+size 666549
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045001.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045001.png
new file mode 100644
index 0000000000000000000000000000000000000000..05cadb5b1e1790415c416da19308bacdc5b66c8b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045001.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff709688050f8f3970e9a9e2fe80275b77f563b9100d6e2f5a1371e6d20cad48
+size 668433
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045003.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045003.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d69947619f90c1da3247927810613c9ac464565
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045003.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f1494c7ed65cb6d22737c4191f1272d2f1191ce8a6e7a89ae7be33814d7222
+size 665933
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045006.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045006.png
new file mode 100644
index 0000000000000000000000000000000000000000..908dc1923c05c19afada143feeb9882fbf6c15e9
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045006.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9ec2e6da1405cad32d58882e1e4246a184f0350cefbcfd09762b3c184ac8e0
+size 667199
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045008.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045008.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb1ce8624cf05a6ffd86bf0f12ee6df568ba95f6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045008.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b6ab22d5ac62285512fad1215f0ed4dc942d688e2070a8b788ca6838643de61
+size 663770
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045010.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045010.png
new file mode 100644
index 0000000000000000000000000000000000000000..b49122648cb8e7363c88b99961810199adb3c5db
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045010.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725c28a93fbcf48fb083c2e3edf1c2ae56d6097e60249577c6c618319cbffbcf
+size 656222
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045012.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045012.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c415d5c14d963da5c191ec5f14ce231a104e311
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045012.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1d62acc11349e0445f6d227aa979e62580a9afba6c22de828634808332598d
+size 654252
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045014.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045014.png
new file mode 100644
index 0000000000000000000000000000000000000000..61b1067aa3ae95d6dfd29abe982102e6e2b8acea
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045014.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f13c30f3703bc7c1c11b1eaac13e68c61917e99e7192e909587e582ddee241
+size 646721
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045016.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045016.png
new file mode 100644
index 0000000000000000000000000000000000000000..2bd98aba1ff751cd05e7220ca956e7ece8cda6d6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045016.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38226f56461904c9285bbc8689dc9d51fea7940328261be6fe136aa4f5c710cb
+size 642635
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045018.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045018.png
new file mode 100644
index 0000000000000000000000000000000000000000..5585946df58aa825f8993824af8b81980ba1e5f5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045018.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fcef76dd95d1284c83bb2d1f69f95dd52536fd7e3f4562ae84c42fa5ac5a429
+size 639217
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045020.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045020.png
new file mode 100644
index 0000000000000000000000000000000000000000..d1304da8add2ded9bef1ff0283755f8b3bff9ee5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045020.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbcfe64dc8f8e14a2893b7a8aa5b2c7a91f20bf16c3de9c5a148f45868c70878
+size 636067
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045022.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045022.png
new file mode 100644
index 0000000000000000000000000000000000000000..7d2390dd8fe128d878f8792acfde96a8964459ff
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045022.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311da78fd9df01d489680d2c736b0b387d47995757601c4f4e09a76f073aa2c0
+size 713959
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045025.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045025.png
new file mode 100644
index 0000000000000000000000000000000000000000..413195dc4094fd88b5cabd4de9b8f56fa89dc3cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045025.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b9df123b3376562de9249c783f1c2399f66d0da36c6adf105d28ab7b758e5fa
+size 716991
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045027.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045027.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce8c14ac1f753fbc9a7c1268cf1edb08e7477d4f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045027.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8f8531f195aa0c4f0e498e26db7ed2b65edabd10889755d6d504686014389e5
+size 716843
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045029.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045029.png
new file mode 100644
index 0000000000000000000000000000000000000000..965ef9837b37a238cbb9fd133a8e8242f29409b7
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045029.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6049de7d5bcbc50d4bc6d2c01c88134335c0b2ac26612fb8f93914e3beaf23f4
+size 713701
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045031.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045031.png
new file mode 100644
index 0000000000000000000000000000000000000000..6774f7882c7d20c12ba2e87786ee0b63a936c5a5
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045031.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd7b94d8fa9bde0432320a6b9cc6171553dc2ab01f4f106561b539b492d08680
+size 712375
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045033.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045033.png
new file mode 100644
index 0000000000000000000000000000000000000000..2cb61391f9e13611688dc3c05757811e3e410438
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045033.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ffb8404f2d0a57178430f9505311694ea8c0cd2013c494e4a00546b34d663c3
+size 710446
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045035.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045035.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d4e783f8f66207e8dbebb5aef26281493d55114
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045035.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08e61d351e704bbff6ec12007358ef23bd5ecac67b241fbce1197c84fc0f8654
+size 713170
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045037.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045037.png
new file mode 100644
index 0000000000000000000000000000000000000000..ee16520047193c95edcf355c87ef54f179889e5a
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045037.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688f0c47b6dc91d281e608e929747f6e02b8df3b76aca90805fce6f08157d2b2
+size 721547
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045040.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045040.png
new file mode 100644
index 0000000000000000000000000000000000000000..0565b36ea496829a1fbdb0206be876db0079b699
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045040.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed54421014d1253f5eff045278aea277a231511a2b2f6372f545cf6a88261bf
+size 722873
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045042.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045042.png
new file mode 100644
index 0000000000000000000000000000000000000000..5e97e4d2920c5a89a2ea667c80180a931f2c1755
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045042.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cce1f6749dbcf0abab790f54e7c675fd4f05c6b123ad16f26507d4cf7eb202f
+size 721088
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045044.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045044.png
new file mode 100644
index 0000000000000000000000000000000000000000..607448aa442344b14cbe06cf5b5dab425a39cb3e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045044.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de508dd548f7a4e051305e91cc0304adcef29247938227a1e5d9ec46ba32363c
+size 721479
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045046.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045046.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2060a37f6cef69b7b23c31bd1a99860a567e5ed
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045046.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:791bfb5d5aa2fc70428a65af2c1185e7723f6e420338222dc63ef788aece1509
+size 720616
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045048.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045048.png
new file mode 100644
index 0000000000000000000000000000000000000000..29c2a63997ca1ee219f54fcfd9153d79292ce68d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045048.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8969dcf05e8d0c383ab5558a94c080cab7e25b63ff695ce1ae547b7b5c32c228
+size 713861
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045050.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045050.png
new file mode 100644
index 0000000000000000000000000000000000000000..82ddc190aa62db833c3f6ddd88d2e8f6eb8d26cb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045050.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12eacf88dff1670ab04c2069c822cdbff215e553a028a7a97442299629c08acb
+size 695384
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045052.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045052.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc6b483d386e6bbea054270c18e7fdf03cf1daec
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045052.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f8641619830fe6d358ca3e4084e6c408e524c17111054fae4fc398d16059cea
+size 703565
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045055.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045055.png
new file mode 100644
index 0000000000000000000000000000000000000000..e46d4bf36405c18c3d28d482342f4c87c4406adb
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045055.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84300b909f78deec5cad4fe58eef46d42ff9392353cfea03bfbb3e8ce7a2619a
+size 710543
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045057.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045057.png
new file mode 100644
index 0000000000000000000000000000000000000000..7394cef8ce825ee981cdef688c7600d2fdb40a3b
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045057.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6c377bb2628bb1e62e31804d72529e652079700049e2aa5d05c38eabf84602b
+size 705614
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045059.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045059.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f83a4eba97108b17ef1d78e6b2556deb1d1fb22
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045059.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59bc88ea145a1efe8e4e9361292c293ddd91fa4b9b8d1527bbe2ee59680ba83d
+size 697319
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045101.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045101.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e4793245736d245766897a1ca3df5797118ee6e
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045101.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e57fd22996bd64e66a5e3be589cb0be7e784f08c1ef0906ae241e4db4ff25d3
+size 695799
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045103.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045103.png
new file mode 100644
index 0000000000000000000000000000000000000000..a189997f315e22988a639a5ac1041c250f3aac00
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045103.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b8c79ee3178bf21f8e259721af79c6f1cc1c9ca8b909a0e7ca6ca78afd2422
+size 689552
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045105.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045105.png
new file mode 100644
index 0000000000000000000000000000000000000000..1891bccd57f69bb76a67a5b9d025f2719f4eb28f
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045105.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112ad8064e6c6673c21d51b734eb4b6bc62f6c20160f698f057e2225190b3e97
+size 696600
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045108.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045108.png
new file mode 100644
index 0000000000000000000000000000000000000000..3c85f6b41d472e1e0cd33948155d340973d6e63d
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045108.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b1933e84759a5ad1b14a9afacf33555bf8354b1aa475c89ea6c4c384a0aca21
+size 698347
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045110.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045110.png
new file mode 100644
index 0000000000000000000000000000000000000000..3a44fef92294be138c04517b43acc94b473245c6
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045110.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19e1eb7f173f8fb22466a23f73f235a1756819bd569432e93814124708d284fd
+size 719179
diff --git a/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045112.png b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045112.png
new file mode 100644
index 0000000000000000000000000000000000000000..14270c453df2cf77aef7b6d40c154d0268ad7a49
--- /dev/null
+++ b/Image/env_ue_bigcity/astar_data/medium_average_updown/2025-1-16_4-49-10_301373537/20250116_045112.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8102a12057162bab4b2a3c9d571c91101928e159aead6d9eec20d5d5cee5081
+size 597307